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.

Design and control of a mobile hyper-redundant urban search and rescue robot

2005 ◽  
Vol 19 (3) ◽  
pp. 221-248 ◽  
Author(s):  
Alon Wolf ◽  
Howard H. Choset ◽  
Benjamin H. Brown ◽  
Randall W. Casciola
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
And Control

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.

Design of a Mobile Robot to Clean the External Walls of Oil Tanks

2013 ◽  
pp. 237-247
Author(s):  
Hernán Gonzalez Acuña ◽  
Alfonso René Quintero Lara ◽  
Ricardo Ortiz Guerrero ◽  
Jairo de Jesús Montes Alvarez ◽  
Hernando González Acevedo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Design Methodology ◽  
Mechanical Design ◽  
Research Work ◽  
Control Design ◽  
Research Groups ◽  
Successful Design ◽  
Oil Tanks ◽  
And Control

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used in the design, including mechanical design, electronics design, and control design. These stages describe the most important topics for optimally successful design. The final part provides results that were obtained in the design process and construction of the robot. Finally, the conclusions of this research work are presented.

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.

RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism

2011 ◽  
Vol 30 (13) ◽  
pp. 1609-1626 ◽  
Author(s):  
Shuro Nakajima
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Design Concept ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Mobility Performance ◽  
Stability And Control ◽  
Horizontal Orientation ◽  
Hybrid Mechanism ◽  
And Control

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot’s ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

Design, Modeling and Control of an Omni-Directional Mobile Robot

2010 ◽  
Vol 166-167 ◽  
pp. 173-178 ◽  
Author(s):  
Ioan Doroftei ◽  
Bogdan Stirbu
Keyword(s):  
Mobile Robot ◽  
Mechanical Engineering ◽  
Mechanical Design ◽  
Electrical Engineering ◽  
Modeling And Control ◽  
Drive Mechanism ◽  
Technical University ◽  
And Control

One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omni-directional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at “Gh. Asachi” Technical University of Iasi, Romania.

Design of Bio-Inspired Mobile Robot Using Piezoelectric Transducers As Drives

2017 ◽  
Author(s):  
Jovana Jovanova ◽  
Filip Dobrivojevski ◽  
Martina Dimoska
Keyword(s):  
Mobile Robot ◽  
Piezoelectric Transducer ◽  
Conceptual Development ◽  
Mechanical Design ◽  
Piezoelectric Transducers ◽  
Structural Components ◽  
Design Constraints ◽  
Straight Line ◽  
And Control ◽  
Complex Trajectories

This paper focuses on the design and development of a bio-inspired mobile robot using piezoelectric transducers as drives. The design of the device aimed to imitate the trajectory movement of a crawl-like animal. Design constraints as producing controlled movement with piezoelectric transducer, as well as the combination of multiple piezoelectric patches into one mobile robot are presented in their practical aspects. The robot uses 2 piezoelectric transducers as main drives, but also as main structural components of the device. The patches are connected with a thin light rod, and the kinematic of movement is achieved with 4 tiny wooden legs connected on each of the patches. The project investigates the possibility and effectiveness of the piezoelectric transducers for movement of the bio-inspired mobile robot. From conceptual development, to the mechanical design and control, the mobile robot is used to test different trajectories of movement. Ni RIO Evaluation kit has been incorporated as a real-time and FPGA control platform for the mobile robot while using Labview programing environment. To accomplish complex trajectories of movement the velocity of the robot was measured for straight line and rotation of the robot.

scholarly journals Mechanical Design and Control System of an Omni-directional Mobile Robot for Material Conveying

Procedia CIRP ◽  
2016 ◽  
Vol 56 ◽  
pp. 412-415 ◽  
Author(s):  
Tianran Peng ◽  
Jun Qian ◽  
Bin Zi ◽  
Jiakui Liu ◽  
Xingwei Wang
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mechanical Design ◽  
And Control

scholarly journals Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021 ◽  
Vol 343 ◽  
pp. 08003
Author(s):  
Mihai Crenganis ◽  
Cristina Biris ◽  
Claudia Girjob
Keyword(s):  
Mobile Robot ◽  
Mobile Platform ◽  
Wheel Drive ◽  
Differential Steering ◽  
General Aspects ◽  
Four Wheel Drive ◽  
And Control ◽  
High Degree ◽  
Future Work ◽  
Important Objective

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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