Design and modeling of a novel single-actuator differentially driven robot

Sfeir, Joy; Shammas, Elie; Asmar, Daniel

doi:10.1109/aim.2014.6878224

Cited by 7 publications

(2 citation statements)

References 7 publications

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“…Además de tener un actuador continuo principal, los RMUA de tipo 2 también disponen de mecanismos auxiliares binarios o todo-nada (embragues, imanes...) que les permiten modificar el efecto que su único actuador continuo ejerce sobre el movimiento global del robot, canalizando la energía motriz de una u otra forma para convertirla en avance en línea recta, salto, giro, etc. En esta línea, en [10] se presenta un robot móvil con dos ruedas de radio variable, actuadas por un único motor. Al activar cierto embrague, dicho motor también desplaza el centro de gravedad del robot, modificando el radio de las ruedas y generando un cambio en la dirección de avance.…”

Section: Introductionunclassified

Planificación de trayectorias de un robot móvil modular con un único actuador

Peidró¹,

Gallego²,

Payá³

et al. 2020

XL Jornadas De Automática: Libro De Actas (Ferrol, 4-6 De Septiembre De 2019)

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Section: Introductionunclassified

Planificación de trayectorias de un robot móvil modular con un único actuador

Peidró¹,

Gallego²,

Payá³

et al. 2020

XL Jornadas De Automática: Libro De Actas (Ferrol, 4-6 De Septiembre De 2019)

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“…Some examples of type-II SAMR robots can be found in the literature. For example, the authors in [7] present a mobile robot with two variable-radius wheels driven by a single motor such that, when activating a clutch, this motor also displaces the center of mass of the robot along its main shaft, which modifies the relative radii of the wheels and produces a change in the direction of motion due to differential drive kinematics. The authors in [8,9] propose snake-like robots powered by a single tendon-driven actuator each robot.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

et al. 2019

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Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.

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