• Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot
• Design, simulation and manufacturing of a tracked robot for nuclear accidents
• Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot
  

   Abstract

  For performing the best obstacle-surmounting capability, including Stairs-Climbing and channel-crossing, SHU-I’s, a six-track robot with four independent swing arms, obstacle-surmounting capability are analyzed according to the robot kinematics based on the obstacle-surmounting mechanism of the six-track robot with four swing arms. Its maximal obstacle-surmounting capability of Stairs-Climbing is mainly analyzed. Taking SHU-I crawler robot prototype as an example, three dimensional relationship diagrams of the step height, the elevation angle and arms’ swing angle are drawn. Also, the relationship between channel-crossing capability and structural parameters of the six-track robot are analyzed. We establish obstacle-surmounting mathematical model, also deduce the optimum obstacle-surmounting capability and corresponding obstacle gesture. Then, we use RecurDyn dynamics software to carry out simulation experiments to examine validity of obstacle-surmounting mathematical model. This paper would provide theoretical basis for six-track robots’ centroid position control in obstacle-surmounting process.

  How Multibody Dynamics Simulation Technology is Used

  RecurDyn is used to prove the obstacle-surmounting ability of a six-track robot. Simulations were run of both steps and channel crossing. RecurDyn simulations were consistent with theoretical results and provided a reliable testing mechanism without the need for a physical prototype.

  Get This Paper

  • http://ieeexplore.ieee.org/xpl/login.jsp?reload=true&tp=&arnumber=6739837&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6739837

  Related Case Studies

  • Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot
  • Design, simulation and manufacturing of a tracked robot for nuclear accidents
  • Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot

Abstract

A reconfigurable tracked mobile robot (RTMBot) is presented in this paper based on a parallel four-bar mechanism. Firstly the structure of the robot is introduced. After that a centroid configuration model is proposed to analyze the trench-crossing capability of the robot and plan the locomotion configurations for crossing trenches. Then a virtual robot prototype has been constructed to analyze and simulate the performance of trench-crossing. Finally, a prototype of the reconfigurable tracked mobile robot has been produced, and experiments have been performed to verify the design concept and its embodiment. The results show that RTMBot can reconfigure itself to cross trenches.

How Multibody Dynamics Simulation Technology is Used

RecurDyn is used for the analysis and simulation of the reconfigurable tracked mobile robot performance. The simulation was able to identify the capability of a robot configuration to cross trenches. A prototype was then built that confirmed these simulations. Dynamic simulations can save time in the design of tracked robots.

Get This Paper

• http://link.springer.com/chapter/10.1007/978-3-642-16584-9_49

Related Case Studies

• Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot
• Design, simulation and manufacturing of a tracked robot for nuclear accidents
• The Research on Obstacle-surmounting Capability of Six-track Robot with Four Swing Arms

Abstract

There is substantial interest in the development of man-portable unmanned guided vehicles (UGVs) to perform surveillance in urban environments. Many studies have been done on the control logic needed to guide the vehicles in autonomous and semi-autonomous modes. Less work has been done to assess the effectiveness of the controlled inputs on mobility performance.

How Multibody Dynamics Simulation Technology is Used

A detailed model of a tracked robot was developed and simulated using RecurDyn. The dynamic limitations of the robot when climbing stairs were identified for two extremes of driving torque. A basic controller was designed within RecurDyn which could adjust the driving torque to maintain stability. RecurDyn simulations provided a way for this design to be accomplished in a time efficient manner.

Get This Paper

• http://papers.sae.org/2006-01-0930/

Related Case Studies

• Design, simulation and manufacturing of a tracked robot for nuclear accidents
• The Research on Obstacle-surmounting Capability of Six-track Robot with Four Swing Arms
• Trench-Crossing Capability Analysis of a Reconfigurable Tracked Mobile Robot