A reconfigurable tracked mobile robot based on four-linkage mechanism

Luo, Zirong; Shang, Jianzhong; Zhang, Zhixiong

doi:10.1007/s11771-013-1460-8

Cited by 17 publications

(7 citation statements)

References 7 publications

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“…Both the Falcon Fetch and Falcon Mini robots utilise a tracked drive mechanism, which would help the robots overcome the obstacles more effectively as compared to separate wheels or legged effectors [46][47][48]. Wheeled and tracked mechanisms were utilised as they consist of fewer components as compared to legged or crawling modes of locomotion [49].…”

Section: Falcon Robots As Case Studymentioning

confidence: 99%

Robot-Inclusive False Ceiling Design Guidelines

Yeo

Samarakoon

et al. 2021

Buildings

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False ceilings are often utilised in residential and commercial spaces as a way to contain and conceal necessary but unattractive building infrastructure, including mechanical, electrical, and plumbing services. Concealing such elements has made it difficult to perform periodic inspection safely for maintenance. To complement this, there have been increasing research interests in mobile robots in recent years that are capable of accessing hard-to-reach locations, thus allowing workers to perform inspections remotely. However, current initiatives are met with challenges arising from unstructured site conditions that hamper the robot’s productivity for false ceiling inspection. The paper adopts a top-down approach known as “Design for Robots”, taking into account four robot-inclusive design principles: activity, accessibility, safety, observability. Falcon, a class of inspection robots, was used as a benchmark to identify spatial constraints according to the four principles. Following this, a list of false ceiling design guidelines for each category are proposed.

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Section: Falcon Robots As Case Studymentioning

confidence: 99%

Robot-Inclusive False Ceiling Design Guidelines

Yeo

Samarakoon

et al. 2021

Buildings

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“…Wang developed a separated-type tracked robot for mine search and rescue, which is equipped with a pair of swing arms, and the transformations of the arms helps robots surmount obstacles(Wang et al , 2007). A novel reconfigurable tracked robot based on four-link mechanism was proposed in Luo’s paper (Luo et al , 2013), which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. In addition, many tracked robots have been specially developed for fire-fighting and disaster relief (Yan et al , 2016; He et al ,2016; Yang et al , 2017; Yang et al , 2018b; Yoneda et al , 2001; Martin et al , 2017; Faisal et al , 2017; Wu et al ,2016; Frost et al , 2002; Murphy, 2004; Ji et al , 2015; Yu et al , 2018; Yu et al , 2016; Liu et al , 2017; Qu et al , 2018).…”

Section: Introductionmentioning

confidence: 99%

An angle-changeable tracked robot with human-robot interaction in unstructured environments

Zong

et al. 2020

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Purpose The purpose of this paper is to study the adaptability of the tracked robot in complex working environment. It proposes an angle-changeable tracked robot with human–robot interaction in unstructured environment. The study aims to present the mechanical structure and human–robot interaction control system of the tracked robot and analyze the static stability of the robot working in three terrains, i.e. rugged terrain, sloped terrain and stairs. Design/methodology/approach The paper presents the mechanical structure and human–robot interaction control system of the tracked robot. To prevent the detachment of the tracks during obstacle navigation, a new type of passively adaptive device based on the relationship between the track’s variable angle and the forces is presented. Then three types of rough terrain are chosen to analyze the static stability of the tracked robot, i.e. rugged terrain, sloped terrain and stairs. Findings This paper provides the design method of the tracked robot. Owing to its appropriate dimensions, good mass distribution and limited velocity, the tracked robot remains stable on the complex terrains. The experimental results verify the effectiveness of the design method. Originality/value The theoretical analysis of this paper provides basic reference for the structural design of tracked robots.

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“…Commonly utilized driving systems [5] for robotic rovers mainly include wheeled [6][7][8][9][10], legged [11][12][13] and tracked [14][15][16][17][18][19][20][21][22][23][24] types, with the former two widely adopted in the lunar rover design. Wheeled mechanism with the ability to achieve accelerated speeds, precision maneuverability and distinct effectiveness benefits from ground wheeled vehicle design methods [8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, tracked robots are expected to be professional and domestic service robotics that could be applied in the areas of rescue, service and exploration. According to the number of tracks used in the system, tracked robot can generally be classified into three types: single-track robot [20], double-track robot [21,22], and multitrack robot [23,24]. Kinugasa et al [20] proposed a flexible single-track robot, which could be able to turn and climb over obstacles in three dimensions due to the bendable, flexible and shelled track mechanism.…”

Section: Introductionmentioning

confidence: 99%

A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

Wang¹,

Shu²,

Jin³

et al. 2017

Smart Mater. Struct.

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A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s−1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

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A reconfigurable tracked mobile robot based on four-linkage mechanism

Cited by 17 publications

References 7 publications

Robot-Inclusive False Ceiling Design Guidelines

Robot-Inclusive False Ceiling Design Guidelines

An angle-changeable tracked robot with human-robot interaction in unstructured environments

A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

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