Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs
TL;DR: 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.
Citations
More filters
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.
5 citations
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.
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...
3 citations
23 May 2022
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.
Abstract: Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. TrussBot is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints. We propose a truss geometry, analyze its deformation modes, and provide a simulation framework for predicting its behavior under applied loads and actuation. The TrussBot is geometrically constrained, thus requiring compliant joints to move. The TrussBot can be actuated through a network of tendons which pinch vertices together and apply a twisting motion due to the structure's connectivity. The truss was demonstrated in a physical prototype and compared to simulation results.
01 Jan 2021
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.
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
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.
Abstract: Abstract There are a lot of high-height structures that should be inspected or manipulated frequently due to maintenance purposes. According to the safety considerations and time or cost limitations, substituting the human operator with an automatic robot is inevitable. The main objective of this paper is to design and manufacture a novel climbing robot equipped with grip-based locomotion system which can climb through scaffold structures and trusses to accomplish inspectional and operational tasks. The proposed robot has good maneuverability and stability. The proposed robot is manufactured in order to verify the simulation results with experimental data. The chassis and its corresponding grippers are designed first, and the corresponding model of the system is extracted. This model is used then for designing the controlling strategy of the system. The path planning of the robot is conducted to realize the climbing process by the robot during several steps in an optimum way. The prototype of the proposed robot is manufactured at Kharazmi University called KharazmBot. Experimental results not only show the capability of the manufactured robot toward ascending the mentioned structures but also prove its high stability as a result of its designed gripper and also its good maneuverability as a result of its over-actuated mechanism. Thus, it is concluded that the designed and manufactured climbing robot of this paper can successfully ascend through the pipes and trusses and perform a desired inspectional or operational task with good accuracy and safety while its stability is also satisfied.
References
More filters
17 Feb 2000
TL;DR: Shrimp as discussed by the authors is a high mobility wheeled rover for uneven terrain off-road that uses passive locomotion concept robot on uneven terrain, and is based on the SHRIMP concept.
Abstract: Keywords: passive locomotion concept robot uneven terrain off-road ; SHRIMP : High Mobility Wheeled Rover Reference LSA-CONF-2000-003View record in Web of Science Project Web Site: http://asl.epfl.ch/research/systems/shrimp/shrimp.php Record created on 2006-12-07, modified on 2016-08-08
156 citations
06 Jul 2004
TL;DR: The experiments indicate that stepping patterns play a major role in an animal's or robot's overall body motions.
Abstract: ing cockroach locomotion principles with reduced actuation can lead to a simple yet effective cockroach-like vehicle able to traverse irregular terrain. One such hexapod robot is Whegs VP, which achieves a cockroach-like nominal tripod gait using only a single DC motor. Whegs VP uses compliant mechanisms in its axles to passively adapt its gait to the terrain such that it can climb obstacles 175% of its leg height. High speed video analysis of walking cockroaches and Whegs VP illustrates that Whegs VP walks with cockroach-like body motions. The experiments indicate that stepping patterns play a major role in an animal's or robot's overall body motions.
116 citations
19 May 2008
TL;DR: The Loper, a multi-purpose robotic platform under development at the University of Minnesota's Center for Distributed Robotics, is described, a platform especially suited for overcoming many of the challenges associated with search operations in urban settings.
Abstract: The purpose of this paper is to describe the Loper, a multi-purpose robotic platform under development at the University of Minnesota's Center for Distributed Robotics. Leper's unique Tri-lobe wheel design and highly compliant chassis make the platform especially suited for overcoming many of the challenges associated with search operations in urban settings. The mechanically simple design and use of commercially available components make Loper easily maintainable. The platform also features long operational time, onboard sensor processing, dedicated motion control, and four reconfigurable sensor bays.
96 citations
TL;DR: In this article, the effect of machining parameters cutting speed, feed rate and depth of cut, geometrical parameters cutting insert shape, relief angle and nose radius were investigated and optimized using Taguchi based grey relational analysis.
92 citations
DOI•
01 Jan 2002TL;DR: In this article, an innovative off-road wheeled mobile robot, named Octopus, is presented, able to deal autonomously with obstacles in rough terrain without getting stuck, and it has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized).
Abstract: This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The outputs of the controller are the torques for the wheels, the torques for the forearms, and the position set point for the body.
83 citations