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

Abstract

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.

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

“…Mobile robots are generally used to perform various tasks from one point to another point on the ground in different applications. Therefore, the effective locomotion mechanism will give the high flexibility and manoeuvrability to mobile robot to complete all harsh and complex tasks [6][7]. Mobile robots are mostly work in such harsh environments, where the entrance of any human to perform task is not safe or unaffordable [8].…”