Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs
Ajinkya Bhole,Sri Harsha Turlapati,V. S. Rajashekhar,Jay Dixit,Suril V. Shah,K. Madhava Krishna +5 more
TLDR
In this article, the concept and parameter design of a robust stair-climbing compliant modular robot, capable of tackling stairs with overhangs, is discussed, along with establishing a concept design, the robust design parameters are set to minimize performance variations.Abstract:
This 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
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Design, Modeling, and Control of a New Manipulating Climbing Robot Through Infrastructures Using Adaptive Force Control Method
Vahid Boomeri,H. Tourajizadeh +1 more
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.
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Multi-objective optimization of western bentonite (Al2H2Na2O13Si4)-blended green sand casting process parameters to improve mould quality
TL;DR: In this paper, the main mold properties such as permeability and hardness are evaluated in green sand-casting process, and the quality of the mould in the green sand casting process plays a vital role to achieve good quality castings.
Proceedings ArticleDOI
TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules
Y.L. Li M.W. Qin,L.C. Ting,Celestina Saven,Yumika Amemiya,Mike Tanis,Randall D. Kamien,Cynthia Sung +6 more
TL;DR: The TrussBot as discussed by the authors is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints and can be actuated through a network of tendons which pinch vertices together and apply a twisting motion due to the structure's connectivity.
Book ChapterDOI
Automated Rocker Rover for Terrain Surface Surveillance
TL;DR: In this article, the authors developed an efficient high mobility suspension system that is capable of travelling through rough terrain using a four wheeled rover, where two motors are located inside the body for increased reliability and efficiency.
Journal ArticleDOI
Design, modeling, and manufacturing of a novel robust gripper-based climbing robot: KharazmBot
TL;DR: In this article , a climbing robot equipped with a gripper-based locomotion system was designed and manufactured at Kharazmi University to climb scaffold structures and trusses to accomplish inspectional and operational tasks.
References
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Reliable stair climbing in the simple hexapod 'RHex'
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.