Statics Optimization of a Hexapedal Robot Modelled as a Stewart Platform
08 Sep 2021-pp 370-380
TL;DR: In this article, an underwater legged robot is modeled as a Gough-Stewart platform to enhance its ability to interact with the environment, and a strategy is provided to harness the redundancy of SILVER2 by finding the optimal posture to maximize forces/torques that it can resist along/around constrained directions.
Abstract: SILVER2 is an underwater legged robot designed with the aim of collecting litter on the seabed and sample the sediment to assess the presence of micro-plastics. Besides the original application, SILVER2 can also be a valuable tool for all underwater operations which require to interact with objects directly on the seabed. The advancement presented in this paper is to model SILVER2 as a Gough-Stewart platform, and therefore to enhance its ability to interact with the environment. Since the robot is equipped with six segmented legs with three actuated joints, it is able to make arbitrary movements in the six degrees of freedom. The robot’s performance has been analysed from both kinematics and statics points of view. The goal of this work is providing a strategy to harness the redundancy of SILVER2 by finding the optimal posture to maximize forces/torques that it can resist along/around constrained directions. Simulation results have been reported to show the advantages of the proposed method.
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01 Dec 2022
TL;DR: In this article , a parallel reconfigurable walking machine tool with shape memory alloy actuation is presented to achieve reconfiguration capabilities, and the optimal walking gaits are determined by kinematic, stability and force analyses.
Abstract: Current research on walking robots strives to achieve a higher efficiency, a better load capacity, and an increased adaptability. Parallel kinematic manipulators (PKMs) are characterized by high payload and accuracy, but conventional PKMs with fixed configurations are limited to constrained workspaces in known structured environments. In this article, we propose a parallel reconfigurable walking machine tool that overcomes these limits by adapting its configuration and gaits to different scenarios. A lightweight and compact positioning system with shape memory alloy actuation is presented to achieve reconfiguration capabilities. Furthermore, kinematic, stability, and force analyses are reported to determine the optimal walking gaits in three different scenarios (with inclined slopes at different angles) and four robot configurations. Finally, a set of experiments with the physical prototype validates the proposed models. The results show that symmetric configurations present a better performance at lower ground inclinations (0.5% error), whereas asymmetric configurations can climb on slope conditions that would prevent the use of conventional PKMs (18% or 10°).
3 citations
DOI•
TL;DR: In this paper , a parallel reconfigurable walking machine tool with shape memory alloy actuation is presented to achieve reconfiguration capabilities, and the optimal walking gaits are determined by kinematic, stability, and force analyses.
Abstract: Current research on walking robots strives to achieve a higher efficiency, a better load capacity, and an increased adaptability. Parallel kinematic manipulators (PKMs) are characterized by high payload and accuracy, but conventional PKMs with fixed configurations are limited to constrained workspaces in known structured environments. In this article, we propose a parallel reconfigurable walking machine tool that overcomes these limits by adapting its configuration and gaits to different scenarios. A lightweight and compact positioning system with shape memory alloy actuation is presented to achieve reconfiguration capabilities. Furthermore, kinematic, stability, and force analyses are reported to determine the optimal walking gaits in three different scenarios (with inclined slopes at different angles) and four robot configurations. Finally, a set of experiments with the physical prototype validates the proposed models. The results show that symmetric configurations present a better performance at lower ground inclinations (0.5% error), whereas asymmetric configurations can climb on slope conditions that would prevent the use of conventional PKMs (18% or 10°).
2 citations
TL;DR: The field of underwater legged robotics is a promising area of research as mentioned in this paper , where legged robots have been proposed as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance.
Abstract: Nowadays, there is a growing awareness on the social and economic importance of the ocean. In this context, being able to carry out a diverse range of operations underwater is of paramount importance for many industrial sectors as well as for marine science and to enforce restoration and mitigation actions. Underwater robots allowed us to venture deeper and for longer time into the remote and hostile marine environment. However, traditional design concepts such as propeller driven remotely operated vehicles, autonomous underwater vehicles, or tracked benthic crawlers, present intrinsic limitations, especially when a close interaction with the environment is required. An increasing number of researchers are proposing legged robots as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance. In this work, we aim at presenting the new field of underwater legged robotics in an organic way, discussing the prototypes in the state-of-the-art and highlighting technological and scientific challenges for the future. First, we will briefly recap the latest developments in traditional underwater robotics from which several technological solutions can be adapted, and on which the benchmarking of this new field should be set. Second, we will the retrace the evolution of terrestrial legged robotics, pinpointing the main achievements of the field. Third, we will report a complete state of the art on underwater legged robots focusing on the innovations with respect to the interaction with the environment, sensing and actuation, modelling and control, and autonomy and navigation. Finally, we will thoroughly discuss the reviewed literature by comparing traditional and legged underwater robots, highlighting interesting research opportunities, and presenting use case scenarios derived from marine science applications.
1 citations
17 Mar 2023
TL;DR: In this paper , the authors used a gyroscope sensor to detect angular rotation and axial movement and preserve the orientation of a quadrupedal leg to prevent product damage during the COVID-19 pandemic.
Abstract: The COVID-19 outbreak has been designated a pandemic and is spreading quickly around the world. The industries most impacted by COVID-19, which has proved a barrier to every major business, were the e-commerce businesses that use door-to-door delivery methods. It's critical to have an unmanned strategy that can be applied to diverse sites during this key time. Although the driverless vehicle is not a novel idea, problems can occur when these systems run into the uneven pavement or unexpected obstacles. The methods for ensuring the stability of the commodities delivered by autonomous robots are discussed in this research. This mechanism guards against product damage. Additionally, a motor that stabilizes a robot's product compartment uses a gyroscope sensor to detect angular rotation and axial movement and preserve the orientation of a quadrupedal leg. In order to conduct trials that mimic problems in the real world, rectify errors, and offer solutions, a prototype model of a robot's stability platform has been created. This type of technological advancement will aid us in future efforts to combat global catastrophes.
17 Mar 2023
TL;DR: In this paper , the authors used a gyroscope sensor to detect angular rotation and axial movement and preserve the orientation of a quadrupedal leg to prevent product damage during the COVID-19 pandemic.
Abstract: The COVID-19 outbreak has been designated a pandemic and is spreading quickly around the world. The industries most impacted by COVID-19, which has proved a barrier to every major business, were the e-commerce businesses that use door-to-door delivery methods. It's critical to have an unmanned strategy that can be applied to diverse sites during this key time. Although the driverless vehicle is not a novel idea, problems can occur when these systems run into the uneven pavement or unexpected obstacles. The methods for ensuring the stability of the commodities delivered by autonomous robots are discussed in this research. This mechanism guards against product damage. Additionally, a motor that stabilizes a robot's product compartment uses a gyroscope sensor to detect angular rotation and axial movement and preserve the orientation of a quadrupedal leg. In order to conduct trials that mimic problems in the real world, rectify errors, and offer solutions, a prototype model of a robot's stability platform has been created. This type of technological advancement will aid us in future efforts to combat global catastrophes.
References
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25 May 2017242 citations