scispace - formally typeset

Journal ArticleDOI

Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

01 Mar 2019-Robotica (Cambridge University Press)-Vol. 37, Iss: 3, pp 428-444

AbstractThis paper discusses the concept and parameter design of a robust stair-climbing compliant modular robot, capable of tackling stairs with overhangs. Geometry modifications of the periphery of the wheels of our robot helped in tackling overhangs. Along with establishing a concept design, the robust design parameters are set to minimize performance variations. The Grey-based Taguchi method is applied to provide an optimal setting for the design parameters of the robot. The robot prototype is shown to have successfully scaled stairs of varying dimensions, with overhang, thus corroborating the analysis performed.

...read more


Citations
More filters
Journal ArticleDOI
01 Nov 2020-Robotica
TL;DR: A grip-based climbing robot designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks and can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.
Abstract: In this paper, design, modeling, and control of a grip-based climbing robot are performed, which consists of a triangular chassis and three actuating legs. This robot can climb through any trusses, pipeline, and scaffolds structures and can perform any inspectional and operational tasks in the high height which decreases the falling danger of operation and increases the safety of the workers. The proposed robot can be substituted for the workers to decrease the risk of death danger and increase the safety of the operation. Since these kinds of infrastructures are truss shaped, the traditional wheel-based climbing robots are not able to travel through these structures. Therefore, in this paper, a grip-based climbing robot is designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks. Hence, a proper mechanism for the mentioned robot is designed and its related kinematic and kinetic models are developed. Robot modeling is investigated for two different modes including climbing and manipulating phases. Considering the redundancy of the proposed robot and the parallel mechanism employed in it, the active joints are selected in a proper way and its path planning is performed to accomplish the required missions. Concerning the climbing mode, the required computed torque method (CTM) is calculated by the inverse dynamics of the robot. However, for the manipulation mode, after path planning, two controlling strategies are employed, including feedback linearization (FBL) and adaptive force control, and their results are compared as well. It is shown that the latter case is preferable since the external forces implemented on the end effector tool is not exactly predetermined and thus, the controller should adapt the robot with the exerted force pattern of the manipulator. The modeling correctness is investigated by performing some analytic and comparative simulation scenarios in the MATLAB and comparing the results with the MSC-ADAMS ones, for both climbing and manipulating phases. The efficiency of the designed controller is also proved by implementing an unknown force pattern on the manipulator to check its efficiency toward estimating the mentioned implemented forces and compensating the errors. It is shown that the designed robot can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.

1 citations

Journal ArticleDOI
Abstract: The quality of the mould in green sand-casting process plays a vital role to achieve good quality castings. In this research work, the main mould properties such as permeability and hardness are fo...
Book ChapterDOI
01 Jan 2021
Abstract: The methodology used in the Mars exploration and curiosity rover by Mars Science Laboratory is rocker bogie. The term rocker derives from the suspension system with large forward leg on each side of the vehicle chassis on either side which exhibits automated wheel movement, henceforth when one side of the vehicle rocker goes up, the other side goes down and maintain an average pitch level. Earlier research has envisaged that the Rocker-Rovers are much suitable for conducting scientific experiments like travelling to many meters to tens of kilometres. However, the recent mobility designs are complex, using many wheels or legs. Moreover, such rocker bogies can achieve only minimum distance transverse on field like agriculture land, rough land, inclined, stairs and obstacle surfaces which concludes that greater mobility experiments need to be conducted. There are most cases noted that mechanical failures were caused due to harsh environment. Hence, for surveillance in rough terrains, a robust design of rover is required. This paper focused on development of an efficient high mobility suspension system that is capable of travelling through rough terrain using a four wheeled rover. The primary mechanical feature of the rocker bogie design is arrived by using only two motors for mobility and drive line easiness. Motors are located inside the body for increased reliability and efficiency, while considering the thermal variation to be minimum. Increased stability requires both front wheels to be climb first, put forth the necessity of four wheels for driving the rover. The Rocker-Rover suspension system has a vigorous capability to overcome the uneven terrain because of its equal distribution of the pressure over its six wheels. Moreover, this article has implemented a rover with TSM (Total Surveillance Manager) which is an intelligent surveillance and security robot system, designed for monitoring behaviours and activities in the region of interest. The proposed prototype utilizes multiple types of surveillance devices including robots, CCTV cameras, and sensors
Proceedings ArticleDOI
01 Jan 2016
Abstract: The primary objective of a robot is to substitute or complement humans in life-endangering situations. The paper deals with the design and analysis of a robot suitable for such Urban Search and Rescue operation (USAR) scenarios. A survey of the existing robots in this field is done and new design considerations have been developed. Further, quasi-static analysis of the robot along a circular stair is performed to confirm whether the design considerations will satisfy versatility as well as mobility, the key requirements of a true uneven terrain robot.

References
More filters
Journal ArticleDOI
Abstract: Grey System theory was initiated in 1982 [7]. As far as information is concerned, the systems which lack information, such as structure message, operation mechanism and behaviour document, are referred to as Grey Systems. For example, the human body, agriculture, economy, etc., are Grey Systems. Usually, on the grounds of existing grey relations, grey elements, grey numbers (denoted by 8 ) one can identify which Grey System is, where \"grey\" means poor, incomplete, uncertain, etc. The goal of Grey Systeni and its applications is to bridge the gap existing between social science and natural science. Thus, one can say that the Grey System theory is interdisciplinary, cutting across a variety of specialized fields, and it is evident that Grey System theory stands the test of time since 1982. As the case stands, the developn~ent of the Grey System-as well as theoretical topic-is coupled with clear applications of the theory in assorted fields. The conccept of the Grey System, in its theory and successful application, is now well known in China. The application fields of the Grey System involve agriculture [23, 77-81, 911, ecology [59], economy [61, 102, 103, 1041, meteorology [58, 74,911, medicine [55, 891, history [63, 641, geography [I], industry [61, earthquake [73, 87, 881, geology [76, 1 191, hydrology [98, 1 121, irrigation strategy [261, military affairs, sports [116], traffic [67], management [30, 97, 1051, material science [82, 831, environment [ 1081, biological protection [69,70], judicial system [loo], etc. Projects which have been successfully completed with the Grey System theory and its applications are as follows: 1. Regional econonlic planning for several provinces in China; 2. To forecast yields of grain for some provinces in China:

3,851 citations

Book
01 Jan 1987
TL;DR: The authors have improved on their widely used first edition by adding material on how to do ANOVA using statistical packages for microcomputers, linking the use of ANOVA to regression analysis, and enchancing their discussion on using ANOVA for experimentally gathered data.
Abstract: The authors have improved on their widely used first edition by providing updated examples, adding material on how to do ANOVA using statistical packages for microcomputers, linking the use of ANOVA to regression analysis, and enchancing their discussion on using ANOVA for experimentally gathered data.

1,471 citations

Journal ArticleDOI
TL;DR: Comparisons show that GRA is efficient for solving MADM problem, which involves picking the best from among multiple available alternatives for all performance attributes.
Abstract: There are many cases in daily life and in the workplace which pose a decision problem. Some of them involve picking the best from among multiple available alternatives. However, no single alternative works best for all performance attributes. This research proposes a multiple attribute decision making (MADM) method, grey relational analysis (GRA), for solving this kind of problem. Two cases, facility layout and dispatching rules selection problem, which have been analyzed by data envelopment analysis (DEA), were also analyzed using the GRA procedure, in order to illustrate the use of GRA. In the case of the facility layout problem, 18 alternative layouts and 6 performance attributes were considered. In the case of the problem of selecting dispatching rules, 9 alternatives dispatching rules and 7 performance attributes were considered. For the two cases examined, the results of comparisons show that GRA is efficient for solving MADM problem.

607 citations

Book
01 Oct 1992
TL;DR: This book focuses on one of Taguchi's core techniques, "Design of Experiments", which helps engineers test their products and processes and design robust products at the lowest possible cost.
Abstract: American industry is now realizing that applying Dr. Genichi Taguchi's now-famous quality-engineering techniques can improve their products and produce substantial savings in cost and time. Until now, it has been difficult to find a clear explanation of the key terms and principles of Taguchi's methods. In Peace's book, industrial engineers will discover a practical, readable guide that demonstrates Taguchi techniques step-by-step. Unique coverage of the different types of quality characteristics ensure that readers will understand how to measure and choose options when applying this technology. The book focuses on one of Taguchi's core techniques, "Design of Experiments", which helps engineers test their products and processes and design robust products at the lowest possible cost. Case studies illustrate Taguchi methods at work in a varietyof situations.

411 citations

Proceedings ArticleDOI
07 Aug 2002
TL;DR: An open loop controller is described that enables a small robot to reliably climb a wide range of regular, full-size stairs with no operator input during stair climbing.
Abstract: RHex is a hexapod with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain, as well ascend and descend a particular flight of stairs has already been documented. In this paper, we describe an open loop controller that enables our small robot (length: 51 cm, width: 20 cm, height: 12.7 cm, leg length: 16 cm) to reliably climb a wide range of regular, full-size stairs with no operator input during stair climbing. Experimental data of energy efficiency in a form of specific resistance during stair climbing is given. The results presented in this paper are based on a new half circle leg design that implements a passive, effective leg length change.

186 citations