Optimal Design and Fabrication of “CEDRA” Rescue Robot Using Genetic Algorithm

2004 ◽  
Author(s):  
A. Meghdari ◽  
H. N. Pishkenari ◽  
A. L. Gaskarimahalle ◽  
S. H. Mahboobi ◽  
R. Karimi
Keyword(s):  
Genetic Algorithm ◽  
Mechanical Design ◽  
Design Parameters ◽  
Robot Design ◽  
Preliminary Step ◽  
Laboratory Environment ◽  
Rescue Robot ◽  
Optimum Parameters ◽  
And Control ◽  
Clean Laboratory

This article presents an overview of the mechanical design features, fabrication and control of a Rescue Robot (CEDRA) for operation in unstructured environments. As a preliminary step, the essential characteristics of a robot in damaged and unstable situations have been established. According to these features and kinematical equations of the robot, design parameters are optimized by means of Genetic Algorithm. Optimum parameters are then utilized in construction. Upon fabrication, this unit has been tested in clean laboratory environment, as well as, ill-conditioned arenas similar to earthquake zones. The obtained results have been satisfactory in all aspects, and improvements are currently underway to enhance capabilities of the rescue robot unit for various applications.

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

Structure Design and Analysis of Rescue Robot

2012 ◽  
Vol 190-191 ◽  
pp. 729-732
Author(s):  
Hong Cheng ◽  
Hong Chao Fan ◽  
Hai Fei Lin ◽  
Cong Li ◽  
Yu Peng Mao ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Structure Design ◽  
Zhejiang Province ◽  
Rescue Work ◽  
Rescue Robot ◽  
Wheel Drive ◽  
Wide Range ◽  
Design Competition ◽  
Four Wheel Drive ◽  
And Control

It becomes the urgent and necessary to the development about wide range of manufacturing a multi-functional and human intelligence rescue robots because of difficulty of rescuing the wounded person in a disaster such as earthquakes and other disasters. A rescue robot prototype has been designed, assembled and commissioned based on the rescue mission and rescue needs of the students in Zhejiang Province mechanical design contest. The rescue robot is able to implement going through the tunnel and the bridge, removing the rescue objectives and other actions tasks. The rescue robot has a structure of four-wheel drive, variable center distance which can improve the ability of walking on the bridge and grabbing the rescue target by suction cups to complete the contest tasks. Experiment verified that the design of actuators and control system is reasonable. It took a total of 1 minute 18 seconds to complete the rescue work in Zhejiang Province mechanical design competition.

scholarly journals Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload

2017 ◽  
Vol 39 (4) ◽  
pp. 303-313
Author(s):  
Duong Xuan Bien ◽  
Chu Anh My ◽  
Phan Bui Khoi
Keyword(s):  
Mechanical Design ◽  
Flexible Manipulator ◽  
Length Ratio ◽  
Elastic Displacement ◽  
Design Parameters ◽  
Nonlinear Dynamic Model ◽  
Link Length ◽  
Modeling And Analysis ◽  
Robot Systems ◽  
And Control

Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.

A Convex Approach Solving Simultaneous Mechanical Structure and Control System Design Problems With Multiple Closed-loop Performance Specifications

2004 ◽  
Vol 127 (1) ◽  
pp. 57-68 ◽  
Author(s):  
Ke Fu ◽  
James K. Mills
Keyword(s):  
System Design ◽  
Transfer Matrix ◽  
Closed Loop ◽  
Mechanical Design ◽  
Design Method ◽  
Convex Combination ◽  
Integrated Design ◽  
Design Parameters ◽  
Performance Specifications ◽  
And Control

In this paper, a new integrated design method, referred to as the extended multiple simultaneous specification (EMSS) method, is proposed to solve simultaneous mechanical structure and control system design problems in which a set of n multiple closed-loop performance specifications must be simultaneously satisfied. To utilize this approach, all closed-loop performance specifications considered must have the property that they are convex with respect to the closed-loop system transfer matrix. With the proposed approach, a simply implemented two-stage design approach is used to determine a set of open-loop mechanical system design parameters and a closed-loop controller which simultaneously satisfies a set of n closed-loop performance specifications. In the first stage, for each closed-loop performance specification, one “sample system,” i.e., the closed-loop system with one set of mechanical design parameters with a closed-loop controller chosen from the set of all linear controllers, is determined by trial and error, such that the specification is satisfied. In the second stage, the transfer matrix of the final system, which satisfies all n performance specifications, is determined through the convex combination of the transfer matrices of n sample systems. A linear programming problem is solved to give the combination vector for this convex combination. With the closed-loop transfer matrix given, the mechanical design parameters, the closed-loop controller structure and its gains, are solved algebraically. In this paper, we establish conditions for the existence of a solution to this integrated design problem as well as prove that the EMSS approach retains the stability properties of the sample systems. Experimental results of the EMSS method, carried out on a linear positioning system are given, verifying the effectiveness of the proposed method. We note that the proposed EMSS method works well when the number of design parameters to be determined is small. Further, the proposed EMSS method also has some utility as a controller design method, to determine a closed-loop controller that satisfies a set of n multiple closed-loop performance specifications, given a fixed mechanical system structure.

scholarly journals Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Soheil Habibian ◽  
Mehdi Dadvar ◽  
Behzad Peykari ◽  
Alireza Hosseini ◽  
M. Hossein Salehzadeh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Field Performance ◽  
Fire Department ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
Design And Implementation ◽  
Manipulation System ◽  
And Control ◽  
High Degree

AbstractRescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

Underactuated Finger Closing Motion Control Using Dual Drive Actuation

2015 ◽  
Author(s):  
Jean-Michel Boucher ◽  
Lionel Birglen
Keyword(s):  
Genetic Algorithm ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Novel Technique ◽  
Actuation System ◽  
Compliance Model ◽  
And Control ◽  
Novel Design ◽  
Underactuated Finger

In this paper, a novel technique to prescribe and control the closing motion of a linkage-driven underactuated finger is presented. Since an underactuated, a.k.a self-adaptive, finger generally only has one actuator for a given number of degrees of freedom, its closing motion before making contact with an object is typically imposed by its mechanical design and cannot be changed once the finger is built. In the literature, several closing motions for underactuated fingers have been proposed each one having its own merits and in each case, associated to a particular mechanical layout. In this work, the authors propose a novel design of a partially compliant underactuated finger based on a dual drive actuation system where two motors, which can be used independently or in combination, move the finger. Each of these motors prescribes a different closing motion which has been selected amongst the most commonly found in the literature. In order to characterize the behavior and performances of this finger, a kinetostatic analysis is carried on and a lumped compliance model is developed. The geometry of the finger is then optimized using a genetic algorithm in order to achieve the desired kinematic motions.

scholarly journals Straddle Robot Design and control with a PID controller optimized by PSO algorithms

2020 ◽  
Vol 5 (2) ◽  
pp. 142-147
Author(s):  
Youcef ZENNIR ◽  
Sami GRIEF ◽  
Elarkam MECHHOUD
Keyword(s):  
Genetic Algorithm ◽  
Pid Controller ◽  
Pso Algorithm ◽  
Grey Wolf Optimizer ◽  
Robot Design ◽  
Grey Wolf ◽  
Steering Angle ◽  
And Control ◽  
Future Work ◽  
The Mathematical Model

The work presented in this paper illustrates the design and control of a straddle robot-type four-wheel moving robot with PID controller adjusted by meta-genetic algorithms genetic Algorithm (GA) and PSO. The approach used for the simulation is a modeless approach because it assumes no knowledge of the mathematical model of the system, indeed, the mechanical structure was implemented under SolidWorks, then a simulation (Solidworks, Simulink) has was conducted using particle swarm optimization (PSO) techniques for controller parameter optimization (PID) to control the steering angle and angular velocity of each wheel. The results obtained clearly illustrate the effectiveness of the selected control architecture and the accuracy is better with the use of the PSO algorithm. In a future work, we compare the results with using other optimization algorithms like GA (Genetic Algorithm) and GWO (Grey Wolf Optimizer) algorithm.

Fire Rescue Robot Design Based on Solidworks

2014 ◽  
Vol 940 ◽  
pp. 254-257
Author(s):  
Rong Zhang ◽  
Wen Ping Wang ◽  
Zhi Qiang Shi ◽  
Jun Hu ◽  
Peng Fei Xu ◽  
...  
Keyword(s):  
Simulation Model ◽  
Mechanical Design ◽  
Robot Design ◽  
Software Simulation ◽  
Rescue Robot ◽  
Structure Reliability ◽  
Overall Performance ◽  
The Stability ◽  
Theory Research ◽  
3D Software

This paper introduces the fire rescue the robot's stability of the mechanical design and theory research. Through the Solidworks 3d software simulation model is established, and summarizes the analysis of its mechanical structure reliability and the stability of the overall performance, help to promote the equipment used in our country in the process of fire rescue..

scholarly journals Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 123
Author(s):  
Narek Zakaryan ◽  
Mikayel Harutyunyan ◽  
Yuri Sargsyan
Keyword(s):  
Upper Limb ◽  
Mechanical Design ◽  
Artificial Muscle ◽  
Design Parameters ◽  
Upper Limb Exoskeleton ◽  
System A ◽  
Rehabilitation Robots ◽  
Point Control ◽  
And Control ◽  
Human Upper Limb

Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control (EP) of a new human upper limb exoskeleton. Considering the upper limb as a multi-muscle redundant system, a similar over-actuated but cable-driven mechatronic system is developed to imitate upper limb motor functions. Additional torque adjusting systems at the joints allow users to lift light weights necessary for activities of daily living (ADL) without increasing electric motor powers of the device. A theoretical model of the “ideal” artificial muscle exoskeleton is also developed using Hill’s natural muscle model. Optimal design parameters of the exoskeleton are defined using the differential evolution (DE) method as a technique of a multi-objective optimization. The proposed cable-driven exoskeleton was then fabricated and tested on a healthy subject. Results showed that the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehabilitation robots. Further studies may include a spatial mechanism design, which is especially important for the shoulder rehabilitation, and development of reinforcement learning control algorithms to provide more efficient rehabilitation treatment.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

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