Co-Design of AZIMUT: A Multi-Modal Robotic Platform

This paper presents the design of a modular robot capable of multi-directional mobility to aid reconfiguration on uneven terrain. Modular reconfigurable robotic systems consist of a large number of self-sufficient modules that can dock and reconfigure to scale locomotion and manipulation capabilities. However, on uneven terrains, reconfigurable robots face challenges due to the requirement of precise alignment between modules during the docking procedure. First, a survey of current modular reconfigurable robots is presented, analyzing their strengths and shortcomings in reconfiguration and mobility. A novel design is formulated that features a hybrid combination of wheels and tracks, symmetrically assembled about the front and right planes, providing multi-directional mobility and modularity. The robot can move over uneven terrain via tracks, move at higher speeds via wheels placed orthogonally to the tracks, and move in the vertical direction via a vertical translation mechanism in order to aid in multi-robot docking. Both the wheels and tracks possess yaw mobility via differential drive. The design’s compact size and hybrid multi-directional mobility system make the robot highly mobile on uneven terrain. Presented in this paper are the mechanical and electrical design and a feedforward dynamic stability controller, the performance of which is validated using a simulated case study.

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“…Four support rods rigidly connect the two TUs together. Leg   BigDog [54] Leg     Azimut [55] Track, Leg…”

Section: 2mentioning

confidence: 99%

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Kumar

Saab

Ben-Tzvi

2017

Volume 5B: 41st Mechanisms and Robotics Conference

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“…이러한 로봇들은 고정된 작 업을 하는 산업용 로봇들과 달리 실내외 환경에서 이동하며 감시 나 정찰을 하는 작업을 하며 대표적인 로봇들로는 Packbot (Murphy, 2004), Remotec-andros robots (Frost et al, 2002;White et al, 1989), AZIMUT (Michaud et al, 2003) 얻기 위해 로봇팔을 설계한 연구 (Kim et al, 2010), 경량화를 위 해 탄소섬유강화 플라스틱을 이용하여 로봇팔에 대한 설계연구를 수행하였다 (Kim et al, 2012). 또한, 말단에 부착한 카메라를 이용 하여 취득한 비젼정보를 처리하는 연구도 수행되었다 (Na et al, 2009 …”

Section: 서 론unclassified

Design Study on Waterproof 4-axis Manipulator

Choi¹,

Jo²,

Woo³

et al. 2013

Journal of Ocean Engineering and Technology

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This paper deals with the design method for a small waterproof 4-axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.

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“…Some of these robots are PackBot (Yamauchi, 2004), Talon (Foster-Miller, 2010), AZIMUT (Michaud, Létourneau, Paré, Legault, Cadrin, et al, 2003), Andros Mark V (White, Sunagawa, & Nakajima, 1989), Matilda (Munkeby, Jones, Bugg, & Smith, 2002), Wheelbarrow MK8 (Costo & Molfino, 2004), LMA (Goldenberg & Lin, 2005), variable configuration VCTV (Iwamoto & Yamamoto, 1990), Helios VI and VII (Guarnieri, Debenest, Inoh, Fukushima, & Hirose, 2005;Hirose, Fukushima, Damoto, & Nakamoto, 2001), and Ratler (Purvis & Klarer, 1992). The designs of these mobile robots are mainly based on wheel mechanisms, track mechanisms, and a combination of both.…”

Section: Introductionmentioning

confidence: 99%

Experimental validation and field performance metrics of a hybrid mobile robot mechanism

Ben-Tzvi

2010

Journal of Field Robotics

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This paper presents the experimental validation and field testing of a novel hybrid mobile robot (HMR) system using a complete physical prototype. The mobile robot system consists of a hybrid mechanism whereby the locomotion platform and manipulator arm are designed as one entity to support both locomotion and manipulation symbiotically and interchangeably. The mechanical design is briefly described along with the related control hardware architecture based on an embedded onboard wireless communication network between the robot's subsystems, including distributed onboard power using Li-ion batteries. The paper focuses on demonstrating through extensive experimental results the qualitative and quantitative field performance improvements of the mechanical design and how it significantly enhances mobile robot functionality in terms of the new operative locomotion and manipulation capabilities that it provides. In terms of traversing challenging obstacles, the robot was able to surmount cylindrical obstacles up to 0.6-m diameter; cross ditches with at least 0.635-m width; climb and descend step obstacles up to 0.7-m height; and climb and descend stairs of different materials (wood, metal, concrete, plastic plaster, etc.), different stair riser and run sizes, and inclinations up to 60 deg. The robot also demonstrated the ability to manipulate objects up to 61 kg before and after flipping over, including pushing capacity of up to 61 kg when lifting objects from underneath. The above-mentioned functions are critical in various challenging applications, such as search and rescue missions, military and police operations, and hazardous site inspections. C

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Co-Design of AZIMUT: A Multi-Modal Robotic Platform

Cited by 18 publications

References 8 publications

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Design Study on Waterproof 4-axis Manipulator

Experimental validation and field performance metrics of a hybrid mobile robot mechanism

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