Home Articles List Article Information
International Journal of Robotics, Theory and Applications
Journal Archive
Volume Volume 4 (2015-2016)
Volume Volume 3 (2013-2014)
Volume Volume 2 (2011-2012)
Mardani, A., Ebrahimi, S. (2016). A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement. International Journal of Robotics, Theory and Applications, 4(4), 1-15.
Arman Mardani; Saeed Ebrahimi. "A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement". International Journal of Robotics, Theory and Applications, 4, 4, 2016, 1-15.
Mardani, A., Ebrahimi, S. (2016). 'A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement', International Journal of Robotics, Theory and Applications, 4(4), pp. 1-15.
Mardani, A., Ebrahimi, S. A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement. International Journal of Robotics, Theory and Applications, 2016; 4(4): 1-15.

A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement

Article 1, Volume 4, Issue 4, Winter and Spring 2016, Page 1-15  XML PDF (534 K)
Document Type: Original Article
Authors
Arman Mardani1; Saeed Ebrahimi 2
1Mechanical Engineering Department, Yazd University, Yazd, Iran.
2Mechanical Engineering Department, Yazd University, Yazd, Iran
Abstract
In this paper, an innovative mobile platform is presented which is equipped by three new wheels. The core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. The structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. Each wheel has two degrees of freedom. The first is to rotate wheel axis and the second is to change the wheel radius. As the first step, after definition of the new model, its spatial kinematics and constraints will be formulated. The well-known Newton-Raphson algorithm is implemented to find the current response of the kinematic model. A semi-dynamic formulation is further utilized to find the torque of motors for adapting the required wheel radius for maneuverability improvement on rough surfaces. The principles of virtual work will be used to extract the torque values numerically. The ability of the proposed robot for performing the required tasks will finally be checked by some simulations.
Keywords
adaptable wheel; geometry multimode; mobile robot; maneuverability; kinematic analysis
References

[1] D. Xu, D. Zhao, J. Yi & X. Tan, Trajectory tracking control of omnidirectional wheeled mobile manipulators: robust neural network-based sliding mode approach. Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions, Vol. 39(3), (2009), 788-799.

[2] T. B. Lauwers, G. A. Kantor and R. L. Hollis, A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive, Robotics and Automation, ICRA Proceedings IEEE International Conference, (2006), 2884-2889.

[3] S. Ebrahimi, & A. Mardani, Dynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing, International Journal of Robotics, Theory and Applications, Vol. 4(3), (2015), 22-34.

[4] S.Ebrahimi & A. Mardany, Dynamic modeling and construction of a two-wheeled mobile manipulator, part I: Self-balancing, Robotics and Mechatronics (ICROM), (2015), 164-169.

[5] C. Cardeira & J. S. Da Costa, A low cost mobile robot for engineering education, In Industrial Electronics Society, IECON Conference of IEEE, (2005), p.  6.

[6] Stengaard, Anders, J. Nielsen, M.  Skriver, C. Lin, and U. Pagh Schultz, Low-cost modular robotic system for neurological rehabilitative training, IEEE International Conference on Industrial Technology (ICIT), (2016). 1585-1591.

[7] A. Mardani & S. Ebrahimi, Dynamic modeling and construction of a two-wheeled mobile manipulator, part II: Modified obstacle climbing. Robotics and Mechatronics (ICROM), (2015), 170-175.

[8] C. S. Casarez, & R. S.  Fearing, Step climbing cooperation primitives for legged robots with a reversible connection. IEEE International Conference on Robotics and Automation (ICRA), (2016), 3791-3798.

[9] A. S. Boxerbaum, P. Werk, R. D. Quinn & R. Vaidyanathan, Design of an autonomous amphibious robot for surf zone operation: part I mechanical design for multi-mode mobility. Advanced Intelligent Mechatronic Proceedings, IEEE/ASME International Conference, (2005), 1459-1464.

[10] W. McMahan, V. Csencsits, M. Dawson, D. Walker, I. D. Jones & C. D. Rahn, Field trials and testing of the OctArm continuum manipulator. Robotics and Automation. ICRA Proceedings, IEEE International Conference, (2006), 2336-2341.

[11] P. Ben-Tzvi, A. A. Goldenberg & J. W. Zu, Design and analysis of a hybrid mobile robot mechanism with compounded locomotion and manipulation capability, Journal of Mechanical Design, Vol. 130(7), (2008), 072302.

[12] G. C. Haynes, A. Khripin, G. Lynch, J.Amory, Saunders, A.  Rizzi & D. Koditschek, Rapid pole climbing with a quadrupedal robot, Robotics and Automation, ICRA'09. IEEE International Conference, (2009), 2767-2772.

[13] F. Xu, J. Shen, J. Hu, & G.  Jiang, A rough concrete wall-climbing robot based on grasping claws Mechanical design, analysis and laboratory experiments. International Journal of Advanced Robotic Systems, Vol. 13(5), (2016), 1729881416666777.

[14] M. J. Spenko, G. C. Haynes, J. A. Saunders, M. R. Cutkosky, A. A. Rizzi, R. J. Full & D. E. Koditschek, Biologically inspired climbing with a hexapedal robot, Journal of Field Robotics, Vol. 25(4), (2008), 223-242.

[15] M. P. Mann & Z. Shiller, Dynamic stability of a rocker bogie vehicle: longitudinal motion, Robotics and Automation, ICRA Proceedings of the IEEE International Conference, (2005), 861-866.

[16] W. M. Shen, M. Krivokon, H. Chiu, J. Everist, M. Rubenstein & J. Venkatesh, Multimode locomotion via SuperBot reconfigurable robots. Autonomous Robots, Vol. 20(2), (2006), 165-177.

[17] L. Caracciolo, A. Luca & S. Iannitti, tracking control of a four-wheel differentially driven mobile robot, In Robotics and Automation, Proceedings IEEE International Conference, Vol. 4, (1999), 2632-2638.

[18] T. Estier, Y. Crausaz, B. Merminod, M. Lauria, R. Piguet & R. Siegwart, An innovative space rover with extended climbing abilities, LSA-CONF, (2000), 2000-2003.

[19] H. Adachi, N. Koyachi, T. Arai, A.  Shimiza & Y. Nogami, Mechanism and control of a leg-wheel hybrid mobile robot, Intelligent Robots and Systems, IROS'99, Proceedings.  IEEE/RSJ International Conference, Vol. 3, (1999), 1792-1797, IEEE.

[20] H. Tappeiner, S. Skaff, T. Szabo & R. Hollis, Remote haptic feedback from a dynamic running machine, Robotics and Automation, ICRA'09, IEEE International Conference, (2009), 2368-2373.

[21] A. Halme, I. Leppänen, S. Salmi & S. Ylönen, Hybrid locomotion of a wheel-legged machine, Conference on Climbing and Walking Robots (CLAWAR’00), (2000).

[22] B. H. Wilcox, T. Litwin, J. Biesiadecki, J. Matthews, M. Heverly, J. Morrison & B. Cooper, ATHLETE: A cargo handling and manipulation robot for the moon, Journal of Field Robotics, Vol. 24(5), (2007), p 421-434.

[23] B. H. Wilcox, ATHLETE: A cargo and habitat transporter for the moon. Aerospace conference, (2009), 1-7.

[24] C. Grand, F. Benamar, F. Plumet & P. Bidaud, Stability and traction optimization of a reconfigurable wheel-legged robot, The International Journal of Robotics Research, Vol. 231(0-11), (2004), 1041-1058.

[25] V. SunSpiral, D. Chavez-Clemente, M. Broxton, L. Keely, P. Mihelich, D. Mittman & C. Collins, FootFall: A ground based operations toolset enabling walking for the ATHLETE rover. Proceedings of AIAA Space Conference, (2008), 092407.

[26] G. Endo&S.Hirose, Study on roller-walker (multi-mode steering control and self-contained locomotion), Robotics and Automation, Proceedings. ICRA'00, IEEE International Conference, Vol. 3, (2000), 2808-2814.

[27] M. M. Dalvand & M. Moghadam, Design and modeling of a stair climber smart mobile robot (MSRox), ICAR, Proceedings of the 11th International Conference on Advanced Robotics, (2003), 1062-1067.

[28] M. W. Spong, & M. Vidyasagar, Robot dynamics and control, John Wiley & Sons, 2008.

[29] S. Ebrahimi, & P. Eberhard, Contact of Planar Flexible Multibody Systems Using a Linear Complementarity Formulation, PAMM Proceedings in Applied Mathematics and Mechanics, Vol. 5, No. 1, (2005), 197-198.

[30] S. Ebrahimi, A Contribution to Computational Contact Procedures in Flexible Multibody Systems. PhD's Thesis, Reihe: Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart, Band 8, Shaker Verlag, Germany, 2007.

[31] A. A. Shabana, Computational dynamics, John Wiley & Sons, 2009.

Statistics
Article View: 299
PDF Download: 640