Abstract

We present an electrical caterpillar autonomous robot demonstrator, which consists of two independent tracks with an operational platform, a system with photovoltaic panels for converting solar energy into electricity, and a system for connecting different devices to the robot chassis. One goal is to reduce operational costs in terms of fulfilling the missions and maintaining safe human operations in unfriendly environments. Other goals, imbedded in the demonstrator’s design, are: mobility, lowered energy consumption, the usage of ecological energy, and an increased energetic independence. These characteristics would allow the development of a class of robots that may be used in unfriendly and isolated areas, in which solar energy is adequate. Yet another goal is to develop a database documenting how the demonstrator operates under various conditions.

How Multibody Dynamics Simulation Technology is Used

The dynamics of an electrical caterpillar autonomous robot were simulated using RecurDyn. A trial and error method was used to adjust parameters. Results are presented for crossing a step type obstacle. This method of design would have been much more expensive relying upon physical prototypes alone.

Get This Paper

• http://link.springer.com/chapter/10.1007/978-3-642-25899-2_11

Related Case Studies

• Analysis and Test on Step Surmounting Performance of a W-shaped Track Robot
• The Research on Obstacle-surmounting Capability of Six-track Robot with Four Swing Arms
• Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot
• Robust design optimization of the dynamic responses of a tracked vehicle system