Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism

Sun, Yi; Yang, Yang; Ma, Shugen; Pu, Huayan

doi:10.1186/s40638-016-0041-3

Cited by 6 publications

(5 citation statements)

References 31 publications

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“…There has been a lot of research in the field of biomimetics for taking models from nature and imitating the design features. The human ear has been a model for designing many audio devices, e.g., microphone design [52], middle ear prosthetics [53], hearing-aid design [54,55], cochlear implants [56,57], miniature hair bundle sensors [58], robot ear design [59,60], robot locomotion [61,62]. It would be interesting to examine how these engineered designs stack up against human ear design when examined through the lens of axiomatic design.…”

Section: Discussionmentioning

confidence: 99%

Evaluation of Human Ear Anatomy and Functionality by Axiomatic Design

2021

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The design of the human ear is one of nature’s engineering marvels. This paper examines the merit of ear design using axiomatic design principles. The ear is the organ of both hearing and balance. A sensitive ear can hear frequencies ranging from 20 Hz to 20,000 Hz. The vestibular apparatus of the inner ear is responsible for the static and dynamic equilibrium of the human body. The ear is divided into the outer ear, middle ear, and inner ear, which play their respective functional roles in transforming sound energy into nerve impulses interpreted in the brain. The human ear has many modules, such as the pinna, auditory canal, eardrum, ossicles, eustachian tube, cochlea, semicircular canals, cochlear nerve, and vestibular nerve. Each of these modules has several subparts. This paper tabulates and maps the functional requirements (FRs) of these modules onto design parameters (DPs) that nature has already chosen. The “independence axiom” of the axiomatic design methodology is applied to analyze couplings and to evaluate if human ear design is a good design (i.e., uncoupled design) or a bad design (i.e., coupled design). The analysis revealed that the human ear is a perfect design because it is an uncoupled structure. It is not only a perfect design but also a low-cost design. The materials that are used to build the ear atom-by-atom are chiefly carbon, hydrogen, oxygen, calcium, and nitrogen. The material cost is very negligible, which amounts to only a few of dollars. After a person has deceased, materials in the human system are upcycled by nature. We consider space requirements, materials cost, and upcyclability as “constraints” in the axiomatic design. In terms of performance, the human ear design is very impressive and serves as an inspiration for designing products in industrial environments.

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Section: Discussionmentioning

confidence: 99%

Evaluation of Human Ear Anatomy and Functionality by Axiomatic Design

2021

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“…This need has attracted many mechanical engineers to mobile robotics, which consequently has seen much creativity in the design of drive systems. Recent developments in this area include the work of Sun et al, which involves the design of a quadrupedal wheel drive based on the concept of eccentric paddle mechanism, for high mobility [1]. Also, Gonzalez et al used the principle of four-bar mechanism to design a suspension system that guides wheels in climbing structured obstacles and steps [4].…”

Section: Related Workmentioning

confidence: 99%

“…Multi-Terrain robots are mobile robotic systems with an enhanced drive mechanism and control system, for navigation in rough topographies [1]. A notable feature of this mechanism is the active-suspension, which usually takes the form of a leg-wheel mechanism [2].…”

Section: Introductionmentioning

confidence: 99%

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Gratton¹,

Benyeogor²,

Nnoli³

et al. 2020

EJERS

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For a robot to navigate in terrains of rough and uneven topographies, its drives and controllers must generate and control large mechanical power with great precision. This paper is aimed at developing an autonomous robot with active-suspensions in form of a hybrid quadrupedal-wheel drive mechanism. This involves a computational approach to optimizing the development cost without compromising the system’s performance. Using the Solidworks CAD tool, auxiliary components were designed and integrated with the bed structure to form an actively suspended robot drive mechanism. Also, using the S-Math Computing tool, the robot’s suspension system was optimized, employing a four-bar mechanism. To enhance the compatibility of this design with the intended controller, some mathematical equations and numerical validations were formulated and solved. These included the modeling of tip-over stability and skid steering, the trendline equations for computing the angular positions of the suspension servomotors, and the computation of R2– values for determining the accuracy of these trendline equations. Using finite element analysis (FEA), we simulated the structural integrity of key sub-components of the final structure. The results show that our mechanical design is appropriate for developing an actively suspended robot that can efficiently navigate in different terrestrial sites and topographies.

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“…Therefore, triphibious robots have been a research hotspot in the domain of mobile robots. According to the design inspiration of robots, multi-field robots can be mainly divided into two types: bionic design robots [1]- [3] and functional bionic robots with hybrid propulsive mechanism [4], [5]. According to the movement space, multi-field robots can be divided into four types: water-land amphibious robots [6], water-air amphibious robots [7], land-air amphibious robots [8], and water-land-air triphibious robots [9].…”

Section: Introductionmentioning

confidence: 99%

Design and Performance Analysis of a Triphibious Robot With Tilting-Rotor Structure

et al. 2021

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Triphibious robots can move in more complex environment compared with common mobile robots, which makes the triphibious robots have a wider movement space and better environmental adaptability. This paper proposes an innovative design solution of a triphibious robot with the tilting-rotor structure (TR-TRS), which can change its motion mode to perform smoothly transition between different media, such as land, water, and air. First, the mechanical structure of the triphibious robot is described with design diagrams. Two tilting-rotors are mounted on the left and right side of a quadrotor-like aerial platform, in which four legs with passive wheel are integrated to make the triphibious robot move on land. Tiltingrotor structure is used to change the orientation of the rotors on both sides of the robot's fuselage, thus, through adjusting the orientation of these two rotors they can drive the triphibious robot to move on land and underwater. Next, according to the mechanical design, the motion modes in different environmental media are given, and the transition methods between different motion modes are explained in detail. Finally, the influence of tilting-rotor structure on the performance of the designed triphibious robot is analyzed and discussed by the results of virtual simulation. The superior performance of tilting-rotor structure in triphibious robots is demonstrated through the comparison of existing robots. INDEX TERMSTriphibious robots, structure design, tilting rotor, performance analysis.

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Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism

Cited by 6 publications

References 31 publications

Evaluation of Human Ear Anatomy and Functionality by Axiomatic Design

Evaluation of Human Ear Anatomy and Functionality by Axiomatic Design

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Design and Performance Analysis of a Triphibious Robot With Tilting-Rotor Structure

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