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

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volume 598)
• Pages: 619-622
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.598.619
• Online since: July 2014
• Authors: Badrul Aisham*, Qadir Bakhsh, Khalid Hasnan, Aftab Ahmed
• Keywords: Control, Locomotion System, Mechanical Design, Mobile Robot

References

[1] C. Leng and Q. Cao, Motion planning for omni-directional mobile robots based on anisotropy and artificial potential field method, Ind. Robot An Int. J., vol. 36, no. 5, p.477–488, (2009).

DOI: 10.1108/01439910910980204

[2] D. Kim, K. Hwang, D. Lee, and T. Kuc, Mobile Robot Design apply to Design Concept, 2006 SICE-ICASE Int. Jt. Conf., p.2989–2992, (2006).

DOI: 10.1109/sice.2006.314993

[3] H. Xu, D. Tan, Z. Zhang, and K. Xue, A Reconfigurable Mobile Robot with 5th wheel, in Proceedings ofthe 2009 IEEE International Conference on Mechatronics and Automation August 9 - 12, Changchun, China, 2009, p.211–216.

DOI: 10.1109/icma.2009.5246259

[4] H. Zhang, W. Wang, Z. Deng, G. Zong, and J. Zhang, A Novel Reconfigurable Robot for Urban Search and Rescue, Int. J. Adv. Robot. Syst., vol. 3, no. 4, p.359–366, (2006).

[5] N. Enayati and F. Najafi, Design and manufacturing of a tele-operative rescue robot with a novel track arrangement, Ind. Robot An Int. J., vol. 38, no. 5, p.476–485, (2011).

DOI: 10.1108/01439911111154045

[6] R. Vidoni and a. Gasparetto, Efficient force distribution and leg posture for a bio-inspired spider robot, Rob. Auton. Syst., vol. 59, no. 2, p.142–150, Feb. (2011).

DOI: 10.1016/j.robot.2010.10.001

[7] A. G. Rodriguez, A. G. Rodriguez, and P. Rea, A new articulated leg for mobile robots, Ind. Robot An Int. J., vol. 38, no. 5, p.521–532, (2011).

DOI: 10.1108/01439911111154090

[8] H. dachi, and N. Koyachi, Development of a leg-wheel hybrid mobile robot and its step-passing algorithm, 2001 IEEE International Conference on Intelligent Robots and Systems, Expanding the Societal Role of Robotics in the Next Millennium, Vol. 2, pp.728-733, (2001).

DOI: 10.1109/iros.2001.976255

[9] Q. Bakhsh, K. Hasnan, A. Ahmed, Comparative study between wheeled and tracked mobility system for mobile robot, Applied Mechanics and Materials, Vol. 363, pp.538-543, (2013).

DOI: 10.4028/www.scientific.net/amm.393.538

[10] G. Bayar, A. B. Koku, and E. Konukseven, Design of a Configurable All Terrain Mobile Robot Platform, Int. J. Math. Model. methods Appl. Sci., vol. 3, no. 4, p.366–373, (2009).

[11] G. Quaglia, L. Bruzzone, G. Bozzini, R. Oderio, and R. P. Razzoli, Epi. q-TG: mobile robot for surveillance, Ind. Robot An Int. J., vol. 38, no. 3, p.282–291, (2011).

DOI: 10.1108/01439911111122789

[12] O.I.S. Michaud, D.L. Etourneau, M. Arsenault, Y. Bergeron, R. Cadrin, F.R. Ed, M. Legault, M. Millette, M. Tremblay, P. Lepage and Y.A.N. Morin, Multi-Modal Locomotion Robotic Platform Using Leg-Track-Wheel Articulations, Autonomous Robots, Vol. 18, pp.137-156, (2005).

DOI: 10.1007/s10514-005-0722-1

[13] M. Muniandy and K. Muthusamy, An Innovative Design to Improve Systematic Odometry Error in Non-holonomic Wheeled Mobile Robots, Procedia Eng. Int. Symp. Robot. Intell. Sensors 2012 (IRIS 2012), vol. 41, no. Iris, p.436–442, Jan. (2012).

DOI: 10.1016/j.proeng.2012.07.195