scholarly journals Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 10
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Shahab E. Nodehi ◽  
Pietro Bilancia ◽  
Pietro Fanghella
Keyword(s):  
Mobile Robot ◽  
High Energy ◽  
General Purpose ◽  
Stair Climbing ◽  
Functional Design ◽  
Multibody Simulation ◽  
Embodiment Design ◽  
Locomotion System ◽  
Hybrid Locomotion ◽  
Wheel Track

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

Design and Failure Analysis of Track Tensioner Unit for Mobile Robot Using Solidworks

2014 ◽  
Vol 575 ◽  
pp. 721-725
Author(s):  
Khalid Hasnan ◽  
Qadir Bakhsh ◽  
Badrul Aisham ◽  
Aftab Ahmed
Keyword(s):  
Mobile Robot ◽  
Failure Analysis ◽  
Model Material ◽  
Material Behaviour ◽  
Performance Requirements ◽  
Locomotion System ◽  
Stress And Deformation ◽  
Hybrid Locomotion ◽  
Load Conditions ◽  
Selection Of

The designer should be familiar with the acceptable dimensions and material for model, which fulfils its performance requirements under stress and deformation. In this paper the design and failure analysis of track tensioner unit (TTU) of hybrid locomotion mobile robot is presented. The TTU is a module that helps the locomotion system transformability while robot moves on wheel or track mechanism. It is made of Aluminium alloy Al6061-T6 and was analyzed for its mechanical behaviour that subjected under different load conditions. The failure analysis gave the results about the material behaviour under loading condition that helps the selection of suitable one for design. The simulation result shows that the model material fails or deform permanently under 1000N load.

scholarly journals Mechanical Design and Analysis of Hybrid Mobile Robot with Aerial and Terrain Locomotion Capability

2018 ◽  
Vol 172 ◽  
pp. 03007 ◽  
Author(s):  
Monish Koshy ◽  
S. Sreevishnu ◽  
Anjai Krishnan ◽  
Gautham P. Das
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Search And Rescue ◽  
Test Analysis ◽  
Uneven Terrain ◽  
Locomotion System ◽  
Computational Fluid Dynamics Analysis ◽  
Close Range ◽  
Hybrid Locomotion ◽  
Quadrotor System

Although different locomotion mechanisms are available, the use of only one locomotion system in a mobile robot restricts its application scenarios. Hybrid locomotion improves the maneuverability and flexibility of a robot. This paper introduces a hybrid locomotion mobile robot, a combination of quadruped and quadrotor system. The robot has a unique expediency to fly to remote places, then walk to perform close range operations in the field. The prime intention is to use the quadrotor to tackle large objects by flying over it. The four legs provide easy movements in uneven terrain. Thus, this robot can be used in erratic and dynamic environments where stability, maneuverability and flexibility are required. This system can be used as first responders in search and rescue missions, where it responds before human responders gets to the site and get the entire information of the area in detail (like spotting trapped ones, getting detailed 3D mapping etc.). This platform offers unique capabilities suited for search and rescue, disaster zone assistance and surveillances. This paper elucidates the mechanical design and analysis of a hybrid locomotion robot. The solid model of the robot was made using CATIA and further analysis like static analysis, computational fluid dynamics analysis and drop test analysis were performed in ANSYS.

Design and Control Architecture of a Small Mobile Robot with Hybrid Locomotion System

2014 ◽  
Vol 598 ◽  
pp. 619-622 ◽  
Author(s):  
Badrul Aisham ◽  
Qadir Bakhsh ◽  
Khalid Hasnan ◽  
Aftab Ahmed
Keyword(s):  
Mobile Robot ◽  
Control Architecture ◽  
Motion System ◽  
Locomotion System ◽  
Hybrid Mechanism ◽  
Track System ◽  
Low Energy Consumption ◽  
Loading And Unloading ◽  
Hybrid Locomotion ◽  
And Control

This paper presents design and control architecture of a small mobile robot with hybrid locomotion system. It consist the combination of wheel and track type motion system resulting as a hybrid mechanism. The wheel locomotion system helps the robot to move on flat surface or path platform with high velocity, high manoeuvrability at low energy consumption. The track system is designed for rough and unstructured path, where robot need to cross irregular surface with high stability. This system works on interchangeable locomotion phenomena by means of track tensioner unit (TTU). The TTU helps the loading and unloading of track system by means of rack and pinion mechanism. This design of small hybrid mobile robot is improves robot applications and also enhance its flexibilty, verstality to work in multi type of terrains.

scholarly journals Contributions to the development of search and rescue mobile robots

2021 ◽  
Vol 343 ◽  
pp. 08016
Author(s):  
Marton Gyarmati ◽  
Mihai Olimpiu Tătar ◽  
Francisc Kadar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Lessons Learned ◽  
Search And Rescue ◽  
Fourth Section ◽  
The Third ◽  
Locomotion System ◽  
Physical Experiments ◽  
Hybrid Locomotion ◽  
And Control

In this paper the authors present contributions to the development of search and rescue mobile robots. The first part of the paper describes the characteristics of search and rescue field. In the second part the authors presented the development and construction of an experimental prototype focusing on the locomotion systems for the search and rescue field and the results of the physical experiments done and the design and development of a proposed search and rescue mobile robot based on the lessons learned from the experiments. The third part contains the operation and control of the robot. The fourth section presents the simulation of the hybrid locomotion system of the proposed search and rescue mobile robot. The last part of the paper contains the development directions and conclusions.

scholarly journals A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

2018 ◽  
Vol 128 ◽  
pp. 16-32 ◽  
Author(s):  
Zirong Luo ◽  
Jianzhong Shang ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Mobile Robot ◽  
Wheel Track
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