Comparative Study between Wheeled and Tracked Mobility System for Mobile Robot

et al. 2014

AMM

Self Cite

This paper presents design and control architecture of a small mobile robot with hybrid locomotion system. It consist the combination of wheel and track type motion system resulting as a hybrid mechanism. The wheel locomotion system helps the robot to move on flat surface or path platform with high velocity, high manoeuvrability at low energy consumption. The track system is designed for rough and unstructured path, where robot need to cross irregular surface with high stability. This system works on interchangeable locomotion phenomena by means of track tensioner unit (TTU). The TTU helps the loading and unloading of track system by means of rack and pinion mechanism. This design of small hybrid mobile robot is improves robot applications and also enhance its flexibilty, verstality to work in multi type of terrains.

Section: Introductionmentioning

confidence: 99%

Design and Control Architecture of a Small Mobile Robot with Hybrid Locomotion System

Aisham

et al. 2014

AMM

Self Cite

“…The parameters, which are commonly needed to consider while design any mechanical component, such as part dimensions, shape, material, load and nature of application. In the robotic system, the locomotion capability is the basic function that includes the robot working in indoor and outdoor environments [2]. Robots are further categorized in two types one is fixed station robot and other is mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Design and Failure Analysis of Track Tensioner Unit for Mobile Robot Using Solidworks

Aisham

et al. 2014

AMM

Self Cite

The designer should be familiar with the acceptable dimensions and material for model, which fulfils its performance requirements under stress and deformation. In this paper the design and failure analysis of track tensioner unit (TTU) of hybrid locomotion mobile robot is presented. The TTU is a module that helps the locomotion system transformability while robot moves on wheel or track mechanism. It is made of Aluminium alloy Al6061-T6 and was analyzed for its mechanical behaviour that subjected under different load conditions. The failure analysis gave the results about the material behaviour under loading condition that helps the selection of suitable one for design. The simulation result shows that the model material fails or deform permanently under 1000N load.

“…The component dimensions/shape, type of material, allowable load/force/pressure and type of work application. Under the stress and failure analysis of any mechanical member, it is necessary to select a proper kind of material for design and all acceptable dimension of model [1][2].…”

Section: Introductionmentioning

confidence: 99%

Stress Analysis of Switchover Module with Al6061-T6 and Al7075-T6 for Hybrid Locomotion Mobile Robot

MATEC Web of Conferences

Das

et al. 2016

Self Cite

Abstract. This study presents the design and stress analysis of mobile robot switchover module (track tensioner), which helps the robot to work in hybrid locomotion mechanism. The track tensioner is a loading and unloading module that helps the locomotion system transformability while robot moves either on wheel or track mechanism. The selection of suitable material for its design, the model is therefore analysed under static loading. It was analysed under static load of 200 N on two selected materials Aluminium alloys Al6061-T6 and Al7075-T6, to determine its mechanical behaviour of models. The results concluded that the material Aluminium alloy Al7075-T6 would be more suitable material for robot design as compared to Aluminium alloy Al6061-T6.