Advertisement

Journal of Mechanical Science and Technology

, Volume 32, Issue 11, pp 5389–5400 | Cite as

Mobile robot with passively articulated driving tracks for high terrainability and maneuverability on unstructured rough terrain: Design, analysis, and performance evaluation

  • Jihoon Kim
  • Jongwon Kim
  • Donghun Lee
Article
  • 5 Downloads

Abstract

This study presents a new mobile robot with passively articulated driving tracks for high terrainability (TA) and maneuverability (MA) on unstructured, rough terrain. The mobile robot consists of four driving tracks, two rocker links, and four pitch-roll two-degrees-offreedom (2-DOF) passive joints. For performance evaluation, the proposed mechanism was compared with several existing mechanisms, including four tracked mechanisms and three wheel linkage-type mechanisms. Dynamic simulations of reference posture tracking control on three different types of rough terrain using DAFUL confirmed that the incorporation of 2-DOF passive joints and a rocker DOF can contribute to the reduction of TA and MA. TA and MA are reduced by approximately 25.48 % and 44.51 %, respectively, compared with the seven existing locomotion mechanisms. The reasons for improved TA and MA are discussed in terms of three structural features of the proposed mechanism. Finally, the optimization design of the mechanism is constructed.

Keywords

Dynamics simulation Maneuverability Mobile robot Passively articulated tracks Performance evaluation Rough terrain Terrainability 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    J. Stückler, M. Schwarz, M. Schadler, A. Topalidou–Kyniazopoulou and S. Behnke, Nimbro explorer: Semiautonomous exploration and mobile manipulation in rough terrain, Journal of Field Robotics, 33 (4) (2016) 411–430.CrossRefGoogle Scholar
  2. [2]
    R. E. Arvidson, K. D. Iagnemma, M. Maimone, A. A. Fraeman, F. Zhou, M. C. Heverly, P. Bellutta, D. Rubin, N. T. Stein, J. P. Grotzinger and A. R. Vasavada, Mars science laboratory curiosity rover megaripple crossings up to Sol 710 in Gale crater, Journal of Field Robotics, 34 (3) (2017) 495–518.CrossRefGoogle Scholar
  3. [3]
    R. Gonzalez, D. Apostolopoulos and K. Iagnemma, Slippage and immobilization detection for planetary exploration rovers via machine learning and proprioceptive sensing, Journal of Field Robotics, 35 (2) (2018) 231–247.CrossRefGoogle Scholar
  4. [4]
    Y. Gu, N. Ohi, K. Lassak, J. Strader, L. Kogan, A. Hypes, S. Harper, B. Hu, M. Gramlich, R. Kavi, R. Watson, M. Cheng and J. Gross, Cataglyphis: An autonomous sample return rover, Journal of Field Robotics, 35 (2) (2018) 248–274.CrossRefGoogle Scholar
  5. [5]
    LS3–Legged Squad Support System, https://youtu.be/R7ezXBEBE6U, Retrieved Feb. 26 (2018).Google Scholar
  6. [6]
    Y. W. Park and J. Kim, Status and technical challenges of military robots (in Korean), Journal of Korea Robotics Society, 12 (1) (2015) 25–33.Google Scholar
  7. [7]
    B. Yamauchi, PackBot: A versatile platform for military robotics, Unmanned Ground Vehicle Technology VI, 5422 (2004) 228–238.CrossRefGoogle Scholar
  8. [8]
    D. Choi, Y. Kim, S. Jung, H. S. Kim and J. Kim, Improvement of step–climbing capability of a new mobile robot RHyMo via kineto–static analysis, Mechanism and Machine Theory, 114 (2017) 20–37.CrossRefGoogle Scholar
  9. [9]
    S. Feng, E. Whitman, X. X. Xinjilefu and C. G. Atkeson, Optimization–based full body control for the DARPA robotics challenge, Journal of Field Robotics, 32 (2) (2015) 293–312.CrossRefGoogle Scholar
  10. [10]
    S. Jung, D. Choi, H. S. Kim and J. Kim, Trajectory generation algorithm for smooth movement of a hybrid–type robot Rocker–Pillar, Journal of Mechanical Science and Technology, 30 (11) (2016) 5217–5224.CrossRefGoogle Scholar
  11. [11]
    S. Zhang, X. Rong, Y. Li and B. Li, A free gait generation method for quadruped robots over rough terrains containing forbidden areas, Journal of Mechanical Science and Technology, 29 (9) (2015) 3983–3993.CrossRefGoogle Scholar
  12. [12]
    A. Kshirsagar and A. Guha, Design optimization of rocker bogie system and development of look–up table for reconfigurable wheels for a planetary rover, International Journal of Vehicle Structures & Systems, 8 (2) (2016) 58.CrossRefGoogle Scholar
  13. [13]
    S. F. Toha and Z. Zainol, System modelling of rockerbogie mechanism for disaster relief, Procedia Computer Science, 76 (2015) 243–249.CrossRefGoogle Scholar
  14. [14]
    T. Thueer, P. Lamon, A. Krebs and R. Siegwart, CRABExploration rover with advanced obstacle negotiation capabilities, Swiss Federal Institute of Technology (ETHZ), Autonomous Systems Lab (2006).Google Scholar
  15. [15]
    T. Thueer and R. Siegwart, Evaluation and optimization of rover locomotion performance, ICRA, In Rome Workshop on Space Robotics (2007).zbMATHGoogle Scholar
  16. [16]
    M. Neumann, T. Predki, L. Heckes and P. Labenda, Snakelike, tracked, mobile robot with active flippers for urban search–and–rescue tasks, Industrial Robot: An International Journal, 40 (3) (2013) 246–250.CrossRefGoogle Scholar
  17. [17]
    Y. Liu and G. Liu, Track–stair interaction analysis and online tipover prediction for a self–reconfigurable tracked mobile robot climbing stairs, IEEE/ASME Transactions on Mechatronics, 14 (5) (2009) 528–538.CrossRefGoogle Scholar
  18. [18]
    Chaos, http://www.asirobots.com/products/chaos/, Retrieved Feb. 26 (2018).Google Scholar
  19. [19]
    K. Ohno, S. Tadokoro, K. Nagatani, E. Koyanagi and T. Yoshida, Trials of 3–D map construction using the teleoperated tracked vehicle Kenaf at Disaster City, Robotics and Automation (ICRA), 2010 IEEE International Conference on (2010) 2864–2870.Google Scholar
  20. [20]
    D. Apostolopoulos, Analytic configuration of wheeled robotic locomotion, Unpublished Ph.D. Thesis, The Robotics Institute, Carnegie Melon University, Pittsburgh, PA (2001).Google Scholar
  21. [21]
    R. W. Brockett, Robotic manipulators and the product of exponentials formula. In Mathematical theory of networks and systems, Springer, Berlin, Germany (1984).CrossRefzbMATHGoogle Scholar
  22. [22]
    M. G. Bekker, Theory of land locomotion, Ann Arbor, The University of Michigan Press, USA (1956).Google Scholar
  23. [23]
    W. Li, Y. Huang, Y. Cui, S. Dong and J. Wang, Trafficability analysis of lunar mare terrain by means of the discrete element method for wheeled rover locomotion, Journal of Terramechanics, 47 (3) (2010) 161–172.CrossRefGoogle Scholar
  24. [24]
    S. Chhaniyara, C. Brunskill, B. Yeomans, M. C. Matthews, C. Saaj, S. Ransom and L. Richter, Terrain trafficability analysis and soil mechanical property identification for planetary rovers: A survey, Journal of Terramechanics, 49 (2) (2012) 115–128.CrossRefGoogle Scholar
  25. [25]
    W. Lee, S. Kang, M. Kim and M. Park, ROBHAZ–DT3: Teleoperated mobile platform with passively adaptive double–track for hazardous environment applications, Intelligent Robots and systems (IROS), 2004 IEEE/RSJ Internation Conference on (2004) 33–38.Google Scholar
  26. [26]
    Extreme Hagglunds, https://youtu.be/yb9jt_duO0Q, Retrieved Oct. 30 (2017).Google Scholar
  27. [27]
    H. Komura, H. Yamada and S. Hirose, Development of snake–like robot ACM–R8 with large and mono–tread wheel, Advanced Robotics, 29 (17) (2015) 1081–1094.CrossRefGoogle Scholar
  28. [28]
    Y. Kanayama, Y. Kimura, F. F. Miyazaki and T. Noguchi, A stable tracking control method for an autonomous mobile robot, Robotics and Automation (ICRA), 1990 IEEE International Conference on (1990) 384–389.Google Scholar
  29. [29]
    M. Tarokh and G. J. McDermott, Kinematics modeling and analyses of articulated rovers, IEEE Transactions on Robotics, 21 (4) (2005) 539–553.CrossRefGoogle Scholar
  30. [30]
    Supplementary video, https://youtu.be/Za4MzeUZO–0, Retrieved Mar. 16 (2018).Google Scholar
  31. [31]
    T. Thueer and R. Siegwart, Mobility evaluation of wheeled all–terrain robots, Robotics and Autonomous Systems, 58 (5) (2010) 508–519.CrossRefGoogle Scholar

Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea
  2. 2.School of Mechanical EngineeringSoongsil UniversitySeoulKorea

Personalised recommendations