How UGVs physically fail in the field

Carlson, Jennifer; Murphy, Robin R.

doi:10.1109/tro.2004.838027

Cited by 220 publications

(134 citation statements)

References 15 publications

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“…Moreover, physical failure of a robot is a major obstacle in search and rescue missions [36,37] and this can only be alleviated through the study of the manipulator mechanism design from the material science viewpoint, the need for which can be substantiated by the growing attention on natural and man-made disasters and the efforts to minimise causalities. The ingress and egress of rescuers is not the only cause for concern in such sites, and bringing such sites back to normalcy is part of the post-disaster operation.…”

Section: List Of Symbolsmentioning

confidence: 99%

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A review of friction models in interacting joints for durability design

2017

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This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

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Section: List Of Symbolsmentioning

confidence: 99%

“…The failure of mechanisms deployed in hazardous environments is discussed in literatures [36,124,125]. Design failure was recognised as a major factor.…”

Section: Durability In Harsh Environmentsmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

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“…While these types of failures are significant, and in fact are the dominating failure modes for most robots today (Carlson 2003(Carlson , 2004(Carlson , 2005, we contend that these failure modes are not in need of modeling so much as they are in need of correction. These failures are the result of errors and can be reduced, if not eliminated, through process control.…”

Section: Types Of Failure Addressedmentioning

confidence: 99%

Mission Reliability Estimation for Repairable Robot Teams

Stancliff¹,

Dolan

2006

International Journal of Advanced Robotic Systems

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“…When rescue robots are categorized, the locomotion of the robots is mostly either as tracked vehicles 12,13 or snaketype robots. 14,15 It is also suggested that if they can change their shapes, this will assist them to climb and maneuver in confined spaces.…”

Section: Introductionmentioning

confidence: 99%

“…27 At the World Trade Center, existing mobile robots were used for surveillance, but most of these robots were designed for military applications, not specifically for rescue operations in an earthquake zone. 12,28,29 In earlier studies, the problems encountered with mobile robots in a rescue field are explained, but the design process of the robot is not mentioned. This paper explains the mechanical design procedure and prototype stages of four different types of mobile robots which are designed for a mildly damaged earthquake zone.…”

Section: Introductionmentioning

confidence: 99%

Design and prototype of mobile robots for rescue operations

Keçeci

2008

Robotica

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SUMMARYThis study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake. At first, a test field is constructed to represent a mildly damaged earthquake zone. The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn. The mechanical structure, electronics, software, communication, and possible sensory systems are explained. After the robots are manufactured, they are physically tested for their performance in the test field for 18 different parameters. The test results show the effective body structure. Challenges of the rescue robot design are explained and future expectations are given.

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How UGVs physically fail in the field

Cited by 220 publications

References 15 publications

A review of friction models in interacting joints for durability design

A review of friction models in interacting joints for durability design

Mission Reliability Estimation for Repairable Robot Teams

Design and prototype of mobile robots for rescue operations

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