Design, analysis and fabrication of a 3D printed ABS wheel hub for an autonomous agricultural robot

Abstract This study presents the design analysis and development of a novel partially compliant bistable mechanism. Motion behavior dependence on links and relative angles are analyzed, lumped parameter model is derived, mechanism parts including the compliant members are three-dimensional (3D) printed and a state feedback controller is implemented so that the slider follows a well-defined trajectory if designed as an actuator. The proposed mechanism consists of initially straight, large deflecting fixed-pinned compliant links, rigid links, and a sliding mass. Dynamic response of the mechanism is studied using elliptic integral solutions, pseudo rigid body model (PRBM), vector closure loop equations and Elliptic integrals. Nonlinear model is simulated in matlab simulink using fourth‐order Runge‐Kutta algorithms. The research emphasizes on the realization and dynamic response of the mechanism and the trajectory control of the slider so that the slider can be kept constant at specified distances resulting a dwell motion if designed as a linear actuator.

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3D-Printed Strain Sensors: Electro-Mechanical Simulation and Design Analysis Using Nonlinear Material Model and Experimental Investigation

IEEE Sensors Journal ◽

10.1109/jsen.2020.3021576 ◽

2021 ◽

Vol 21 (2) ◽

pp. 1675-1685

Author(s):

S. M. Mahdi Mofidian ◽

Shayan Davani ◽

Kasra Momeni ◽

Hamzeh Bardaweel

Keyword(s):

Experimental Investigation ◽

Material Model ◽

Design Analysis ◽

Strain Sensors ◽

Nonlinear Material ◽

Mechanical Simulation ◽

3D Printed

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Design of a motion system for 3D printed snakebot

Technical Sciences ◽

10.31648/ts.6820 ◽

2021 ◽

Author(s):

Krzysztof Mateja ◽

Wawrzyniec Panfil

Keyword(s):

Design Analysis ◽

Cad Model ◽

Electric Motors ◽

Snake Robot ◽

Work Related ◽

Motion System ◽

Proper Elements ◽

3D Printed ◽

Selection Of

This article presents the results of work related to design, analysis and selection of the electric motors, servos and elements of motion system for 3D printed snakebot. Electric motors and servos had to meet a number of requirements like dimensions, torque, RPM. The drivetrain allowed to drive the snakebot and rotate system allowed to torsional movement between adjacent robot modules. CAD model and analysis allowed to select the proper elements of drivetrain and rotate system. We built test stands and after verification we built the prototype. Next step after building the robot was to carry out tests to verify the mobility of the snake robot. We checked, among others, movement of servos in different planes, snakebot speed, driving at angle (up and down).

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