Design of a high-impact survivable robot

O’Halloran, David; Wolf, Alon; Choset, Howie

doi:10.1016/j.mechmachtheory.2005.02.004

Cited by 18 publications

(7 citation statements)

References 3 publications

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“…특히 카메라, 마이크 등 소형 센서장치 와 바퀴, 트랙 등 이동기구를 이용하여 자율적으 로 혹은 원격조정을 통해서 위험지역을 탐사하거 나 경계활동을 수행하는 로봇응용분야가 활발하게 연구되고 있다. (1~3) 정찰하려는 지역이 근거리 접 근이 어려운 군사 대치지역이거나 혹은 지형이 험 난한 장소인 경우 바퀴형태나 (1,2) 보행형태 (4) 의 로 봇으로는 원하는 목표지점에 이동하여 접근하기 어렵기 때문에 정찰로봇을 소형화하여 투척이나 발사방식으로 접근성 문제를 해결하려는 연구가 수행되고 있다. 덧붙여 여러 소형 로봇을 산개하 여 목표지역에 투입함으로써 로봇간의 협동작업을 가능하게 하고 일부 로봇의 기능상실로 인한 전체 임무의 실패 확률을 줄일 수 있는 장점이 있다.…”

Section: 서 론unclassified

Protector Design and Shock Analysis for a Launch-Reconnaissance Robot

Kang¹,

Park²

2011

Transactions of the Korean Society of Mechanical Engineers A

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This paper presents the design concepts of a protector for a launch-reconnaissance robot that is to be deployed for data-collection in hazardous regions. The protector protects the reconnaissance robot inside from shock induced during the process of launch, flight, and landing. Since the outer shells of the protector are automatically opened wide by the unlocking mechanism during the landing stage, the reconnaissance robot can easily exit the protector and move around to carry out its mission. We carefully simulated a finite-element model of the protector with the robot and compared the results with the actual dynamic behavior of the system. Shock-response tests using a droptable showed that the proposed protector filled with silicon material successfully attenuated external shock.

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Section: 서 론unclassified

Protector Design and Shock Analysis for a Launch-Reconnaissance Robot

Kang¹,

Park²

2011

Transactions of the Korean Society of Mechanical Engineers A

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“…Scout is smart and Ranger is large; the launch vehicle can carry 10 Scout robots. Their work area can be expanded to 20 km and the vehicles can be launched over 30 m. O'Halloran of Carnegie Mellon University developed a type of two-wheeled robot [4] that can endure the large impacts of being dropped. The main shock absorption mechanisms are inflatable tires and a suspension chassis system.…”

Section: Introductionmentioning

confidence: 99%

Research on a Micro Flip Robot That Can Climb Stairs

Wang

Shi

Zhang³

2016

International Journal of Advanced Robotic Systems

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Micro mobile robots (MMRs) can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed the research status of MMRs, particularly in terms of difficulties when performing stair climbing and present a novel type of MMR called the micro flip robot (MFRobot). A support arm subassembly was added to the centre of a wheeled chassis; using this structure, the MFRobot can climb stairs when a flipping mode is utilized. Based on this structure, the authors established a kinematic model of the stair-climbing process and analysed the force conditions for the key status, contributing to the existing knowledge of robot design. An MFRobot prototype was produced and the stair-climbing experiments, as well as experiments on manoeuvring through rubble regions and slope surfaces, were conducted. The results show that the MFRobot can rapidly climb common stairs and can easily manoeuvre through a rubble region. The maximum slope angle the robot can climb was shown to be about 35° for concrete and wooden slope surfaces. In the case where the robot needed to be equipped with sensors, particularly a camera, the camera was equipped on the support arm of robot. The MFRobot prototype weighs 2.5 kg and is easily transportable. This structure can resolve contradictions between portability and performance in terms of overcoming obstacles; in addition, operational effectiveness can be improved using this structure.

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“…Its wheels are made of polymer elastic material and its shell and body are made of titanium alloy, so it can withstand a drop height of 9.1 m without damage. Halloran and Wolf from Carnegie Mellon University have proposed another two-wheeled mobile robot with a special spring suspension system, which may improve the anti-impact capability of the robot (O'Halloran et al, 2005). National University of Singapore and Beijing Institute of Technology have developed their two-wheeled reconnaissance devices named RoboDrop II and BMS-2, respectively (Mohamed, 2006;Sang et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

Design and experimental study of a new thrown robot based on flexible structure

Wang

Zhu

et al. 2015

Industrial Robot: An International Journal

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Purpose – The paper aims to present a new thought for design of a thrown robot based on flexible structures. The aim of the design is to reduce the weight and improve the anti-impact capability for mini thrown robot. Design/methodology/approach – A mass-spring wheeled robot model is proposed and an impact analysis is given in this paper. Some principia were derived for configuration design and material choice to get a light and robust thrown reconnaissance robot. Based on the theoretical analysis, flexible elements like flexure hinges or rubber shell were utilized to build two generation of robots that both showed excellent performances of anti-impact ability. Findings – A second-generation thrown robot (2,050 g) was developed, which could survive dropping from the height of 6 m more than 10 times without apparent damage. Originality/value – The method based on the flexible structure provides the thrown robot with high survivability from impact, as well as light weight. It can be used in the design of the mini thrown reconnaissance robot at low cost.

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Design of a high-impact survivable robot

Cited by 18 publications

References 3 publications

Protector Design and Shock Analysis for a Launch-Reconnaissance Robot

Protector Design and Shock Analysis for a Launch-Reconnaissance Robot

Research on a Micro Flip Robot That Can Climb Stairs

Design and experimental study of a new thrown robot based on flexible structure

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