On the Dual-Rod Slider Rocker Mechanism and Its Applications to Tristate Rigid Active Docking

Abstract

The dual-rod slider rocker mechanism is equivalent to two traditional single-rod sliders that share a common rocker, where the sliders translate along two opposite directions. Unlike a single-rod system, the dual-rod mechanism is unique, in the sense that the two sliders do not translate the same distance for the same rocker rotation. In this paper, an optimal kinematic and dynamic analysis of the dual-rod slider rocker mechanism is presented. This analysis is supplemented by an application to modular robotic coupling, in which the mechanism is employed by a torque recirculation scheme to enable three independent modes of operation via a single motor. Simulation, finite element analysis, and experimental results validate the kinematic properties of this mechanism, the rigidity of the proposed docking interface, and its three modes of operation. We conclude that the compactness of the dual-rod mechanism, and its unique kinematic properties, exhibits a broad industrial value for applications where size and weight are a critical design constraint, such as space and mobile robotics.

A Computational Approach for Cam Size Optimization of Disc Cam-Follower Mechanisms With Translating Roller Followers

“…In the present study, the cam size optimization problem presented in Sec. 4 can be formulated as min Rb;e;Rr f (29) subjected to the following constraints: Transactions of the ASME…”

“…It was pointed out that the outcomes obtained with these two methods coincide. The proposed methodology is simple and can be extended by including other constraints, such as those associated with the velocity and acceleration limits, as well as to other types of cam laws [27][28][29].…”

A Genderless Coupling Mechanism With Six-Degrees-of-Freedom Misalignment Capability for Modular Self-Reconfigurable Robots

“…This section analyzes the loads a coupling mechanism should be capable of withstanding and calculates the rotational DOF torque and clamping DOF forces required for robust operation. Figure 3(a) shows a serial configuration of N þ 1 STORM [8,9] robots with integrated GHEFT mechanisms in maximum, static gravitational loading configuration acting on the base module. Figure 3(b) shows how the stationary housing can be modified to attach onto the STORM robots.…”

“…In this paper, a genderless, high-strength, efficient, fail-safe, and high misalignment tolerant coupling mechanism (GHEFT) [7] is presented capable of robust self-reconfiguration and self-repair The aim of this research is to advance the development of GHEFT with thorough design and analysis to create a scalable coupling mechanism that is easily integrated into modular robots. The proposed mechanism is part of an ongoing research that is envisioned to be used on a field deployable hybrid tracked and wheeled selfreconfigurable and transformable omni-directional robot modular robot called STORM [8,9], which was inspired by the unique locomotion/manipulation functionalities demonstrated by the hybrid mechanism mobile robot [10][11][12]. Section 2 of this paper presents a review of existing coupling mechanisms.…”

Reconfiguring a modular robot into a humanoid formation: A multi-body dynamic perspective on motion scheduling for modules and their assemblies

“…Details about this docking process, the three operation modes of this interface and its rigidity can be found in [17], [18]. In particular, in this paper, we are interested in the motion synchronization of a three-module formation of STORM, referred to as STORM-3 ( Fig.…”