3_MOBILE ROBOT DESIGN.pptx

8/9/2019 3_MOBILE ROBOT DESIGN.pptx

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CHAPTER 3MOBILE ROBOT DESIGN

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NIDUSMAHS EHC LURSAH

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COURSE LEARNING OUTCOMES (CLO)

3.1 CONCEPT OF MOBILE ROBOTDRIVING DESIGN

3.1.1 Robot drii!" #$t%od&

There are several ways of drv!" #o$lero$o%s& They are'

a& S!"le wheel drve

$& D(ere!%al drve

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. Si!"$ *%$$ dri$

Hav!" a s!"le wheel %ha% s $o%h drve! a!ds%eered s %he s#*les% +o!+e*%,al des"! for

a #o$le ro$o%& Ths des"! also re-,res %wo*assve +as%er wheels ! %he $a+./ s!+e%hree +o!%a+% *o!%s are always re-,red&L!ear velo+%y a!d a!",lar velo+%y of %he

ro$o% are +o#*le%ely de+o,*led&

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So for drv!" s%ra"h%/ %he fro!% wheel s

*os%o!ed ! %he #ddle *os%o! a!d drve!a% %he desred s*eed& or drv!" ! a +,rve/%he wheel s *os%o!ed a% a! a!"le#a%+h!" %he desred +,rve&

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",re 1' Drv!" a!d ro%a%o! of s!"le wheel drve

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",re 1 shows %he drv!" a+%o! for

d(ere!% s%eer!" se%%!"s& C,rve drv!" sfollow!" %he ar+ of a +r+le4 however/ %hs

ro$o% des"! +a!!o% %,r! o! %he s*o%& 5%h%he fro!% wheel se% %o 678 %he ro$o% wllro%a%e a$o,% %he #d*o!% $e%wee! %he %wo+as%er wheels 9see ",re 1/ r"h%:& So %he

#!#,# %,r!!" rad,s s %he ds%a!+e$e%wee! %he fro!% wheel a!d #d*o!% of %he$a+. wheels&

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b. Di+$r$!ti dri$

The d(ere!%al drve des"! has %wo #o%ors #o,!%ed !

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The #!#al d(ere!%al drve des"! w%ho!ly a s!"le *assve wheel +a!!o% have %hedrv!" wheels ! %he #ddle of %he ro$o%/for s%a$l%y reaso!s& So whe! %,r!!" o! %he

s*o%/ %he ro$o% wll ro%a%e a$o,% %he o(?+e!%er #d*o!% $e%wee! %he %wo drve!wheels& The des"! w%h %wo *assve wheelsor slders/ o!e ea+h ! %he fro!% a!d a% %he$a+. of %he ro$o%/ allows ro%a%o! a$o,% %he+e!%er of %he ro$o%& However/ %hs des"!+a! !%rod,+e s,rfa+e +o!%a+% *ro$le#s/$e+a,se % s ,s!" fo,r +o!%a+% *o!%s&

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",re ) de#o!s%ra%es %he drv!" a+%o!s ofa d(ere!%al drve ro$o%& If $o%h #o%ors r,!a% %he sa#e s*eed/ %he ro$o% drves s%ra"h%forward or $a+.ward/ f o!e #o%or s

r,!!!" fas%er %ha! %he o%her/ %he ro$o%drves ! a +,rve alo!" %he ar+ of a +r+le/a!d f $o%h #o%ors are r,! a% %he sa#es*eed ! o**os%e dre+%o!s/ %he ro$o% %,r!so! %he s*o%&

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",re )' Drv!" a!d ro%a%o! of d(ere!%al

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Drv!" s%ra"h%/ forward' vL vR/ vL 7

Drv!" ! a r"h% +,rve' vL vR/ e&"& vL )vR

T,r!!" o! %he s*o%/ +o,!%er?+lo+.wse' vL vR/vL 7

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3., Mobi$ robot t-$&

3.,.1O#!i/dir$0tio! robot&

. M$0!2# %$$&

The #arvel $eh!d %he o#!?dre+%o!al drve des"!*rese!%ed ! %hs +ha*%er are Me+a!,# wheels& Thswheel des"! has $ee! develo*ed a!d *a%e!%ed $y%he Swedsh +o#*a!y Me+a!,# AB w%h Be!"% Ilo!! 16>3 Fo!sso! 16@>/ so % has $ee! aro,!d for-,%e a whle& ,r%her de%als o! Me+a!,# wheelsa!d o#!?dre+%o!al drves +a! $e fo,!d ! FCarlsle16@3/ FA",llo/ Cardo!a/ va!+os 16@>/ a!dFD+.erso!/ La*! 1661&

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",re 3' Me+a!,# wheel des"!s w%h rollers a%28

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A Me+a!,#?$ased ro$o% +a! $e +o!s%r,+%edw%h e%her %hree or fo,r !de*e!de!%lydrve! Me+a!,# wheels& eh+le des"!sw%h %hree Me+a!,# wheels re-,re wheelsw%h rollers se% a% 678 %o %he wheel a=s/

whle %he des"! we are follow!" here s$ased o! fo,r Me+a!,# wheels a!dre-,res %he rollers %o $e a% a! a!"le of 28%o %he wheel a=s& or %he +o!s%r,+%o! of a

ro$o% w%h fo,r Me+a!,# wheels/ %wo lef%?ha!ded wheels 9rollers a% K28 %o %he wheela=s: a!d %wo r"h%?ha!ded wheels 9rollersa% 28 %o %he wheel a=s: are re-,red 9see",re :&

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",re 2' Me+a!,# wheel des"!s w%h rollersa% 678

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Al%ho,"h %he rollers are freely ro%a%!"/ %hs does !o%#ea! %he ro$o% s s*!!!" %s wheels a!d !o%#ov!"& Ths wo,ld o!ly $e %he +ase f %he rollerswere *la+ed *arallel %o %he wheel a=s& However/ o,rMe+a!,# wheels have %he rollers *la+ed a% a! a!"le928 ! ",re 3:& Loo.!" a% a! !dvd,al wheel9",re ;/ vew fro# %he $o%%o# %hro,"h a "lassoor:/ %he for+e "e!era%ed $y %he wheel ro%a%o!a+%s o! %he "ro,!d %hro,"h %he o!e roller %ha% has"ro,!d +o!%a+%& A% %hs roller/ %he for+e +a! $e s*l%! a ve+%or *arallel %o %he roller a=s a!d a ve+%or

*er*e!d+,lar %o %he roller a=s& The for+e*er*e!d+,lar %o %he roller a=s wll res,l% ! a s#allroller ro%a%o!/ whle %he for+e *arallel %o %he rollera=s wll e=er% a for+e o! %he wheel a!d %here$y o!%he veh+le&

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S!+e Me+a!,# wheels do !o% a**ear!dvd,ally/ $,% e&"& ! a fo,r wheelasse#$ly/ %he res,l%!" wheel for+es a% 28fro# ea+h wheel have %o $e +o#$!ed %ode%er#!e %he overall veh+le #o%o!& If %he%wo wheels show! ! ",re ; are %hero$o%Js fro!% wheels a!d $o%h are ro%a%edforward/ %he! ea+h of %he %wo res,l%!" 28for+e ve+%ors +a! $e s*l% !%o a forward a!d

a sdeways for+e& The %wo forward for+esadd ,*/ whle %he %wo sdeways for+es 9o!e%o %he lef% a!d o!e %o %he r"h%: +a!+el ea+ho%her o,%&

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",re ' 3?wheel a!d 2?wheel o#!?dre+%o!alveh+les

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",re ;' Me+a!,# *r!+*le/ ve+%or de+o#*os%o!

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b. O#!i/dir$0tio! Dri$ Pri!0i$

",re >/ lef%/ shows %he s%,a%o! for %he f,llro$o% w%h fo,r !de*e!de!%ly drve!

Me+a!,# wheels& I! %he sa#e s%,a%o! as$efore/ &e& all fo,r wheels $e!" drve!forward/ we !ow have fo,r ve+%ors *o!%!"forward %ha% are added ,* a!d fo,r ve+%ors*o!%!" sdeways/ %wo %o %he lef% a!d %wo%o %he r"h%/ %ha% +a!+el ea+h o%her o,%&

Therefore/ al%ho,"h %he veh+leJs +hasss ss,$e+%ed %o add%o!al *er*e!d+,larfor+es/ %he veh+le wll s#*ly drve s%ra"h%

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I! ",re >/ r"h%/ ass,#e wheels 1 a!d 2

are drve! $a+.ward/ a!d wheels ) a!d 2are drve! forward& I! %hs +ase/ allforward$a+.ward velo+%es +a!+el ea+ho%her o,%/ $,% %he fo,r ve+%or +o#*o!e!%s

%o %he lef% add ,* a!d le% %he veh+le slde%o %he lef%&

The %hrd +ase s show! ! ",re @& No

ve+%or de+o#*os%o! s !e+essary ! %hs+ase %o reveal %he overall veh+le #o%o!& I%+a! $e +learly see! %ha% %he ro$o% #o%o!wll $e a +lo+.wse ro%a%o! a$o,% %s +e!%er&

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",re @' Me+a!,# *r!+*le/ %,r!!" +lo+.wse 9see! fro#$elow:

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The follow!" ls% shows %he $as+ #o%o!s/ drv!"forward/ drv!" sdeways/ a!d %,r!!" o! %he s*o%/ w%h%her +orres*o!d!" wheel dre+%o!s 9see ",re 6:&

Drv!" forward' all fo,r wheels forward

Drv!" $a+.ward' all fo,r wheels $a+.ward

Sld!" lef%' 1/ 2' $a+.ward4 )/ 3' forward

Sld!" r"h%' 1/ 2' forward4 )& 3' $a+.ward

T,r!!" +lo+.wse o! %he s*o%' 1/ 3' forward4 )/ 2'$a+.ward

T,r!!" +o,!%er?+lo+.wse' 1/ 3' $a+.ward4 )/ 2'forward

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",re 6' Q!e#a%+s of o#!?dre+%o!al ro$o%

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3.,., B!0i!" Robot

. B!0i!" robot b&$d o! i!$rt$d $!d22#

A! !ver%ed *e!d,l,# s a *e!d,l,# wh+h has %s #assa$ove %s *vo% *o!%& I% s of%e! #*le#e!%ed w%h %he*vo% *o!% #o,!%ed o! a +ar% %ha% +a! #ove horo!%allya!d #ay $e +alled a +ar% a!d *ole& Mos% a**l+a%o!s l#%

%he *e!d,l,# %o 1 de"ree of freedo# $y a=!" %he *ole%o a! a=s of ro%a%o!& 5hereas a !or#al *e!d,l,# ss%a$le whe! ha!"!" dow!wards/ a! !ver%ed *e!d,l,# s!here!%ly ,!s%a$le/ a!d #,s% $e a+%vely $ala!+ed !order %o re#a! ,*r"h%4 %hs +a! $e do!e e%her $ya**ly!" a %or-,e a% %he *vo% *o!%/ $y #ov!" %he *vo%

*o!% horo!%ally as *ar% of a feed$a+. sys%e#/ +ha!"!"%he ra%e of ro%a%o! of a #ass #o,!%ed o! %he *e!d,l,#o! a! a=s *arallel %o %he *vo% a=s a!d %here$y"e!era%!" a !e% %or-,e o! %he *e!d,l,#/ or $y os+lla%!"%he *vo% *o!% ver%+ally&

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A s#*le de#o!s%ra%o! of #ov!" %he *vo% *o!% ! afeed$a+. sys%e# s a+heved $y $ala!+!" a! ,*%,r!ed$roo#s%+. o! %he e!d of o!es


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The $as+ dea for a %wo?wheeled dy!a#+ally $ala!+!"ro$o% s *re%%y s#*le' drve %he wheels ! %he dre+%o!%ha% %he ,**er *ar% of %he ro$o% s fall!"& If %he wheels +a!$e drve! ! s,+h a way as %o s%ay ,!der %he ro$o%s +e!%erof "rav%y/ %he ro$o% re#a!s $ala!+ed& I! *ra+%+e %hsre-,res %wo feed$a+. se!sors' a %l% or a!"le se!sor %o#eas,re %he %l% of %he ro$o% w%h res*e+% %o "rav%y/ a!d

wheel e!+oders %o #eas,re %he *os%o! of %he $ase of %hero$o%& o,r %er#s are s,+e!% %o de

#eas,re#e!%s are s,##ed a!d fed $a+. %o %he *la%for#as a #o%or vol%a"e/ wh+h s *ro*or%o!al %o %or-,e/ %o$ala!+e a!d drve %he ro$o%&

(http://www.geology.smu.edu/~dpa-www/robo/nbot/)

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",re 17' Bala!+!" ro$o% des"!

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b. S$!&or 2&$d i! robot b!0i!"

To $ala!+e a ro$o%/ several se!sors !eed %o $e ,sed&A#o!" of %he# are %l% se!sors/ !+l!o#e%ers/a++elero#e%ers/ "yros+o*es/ a!d ,l%raso!+ se!sor&

i. Tit &$!&or

A %l% se!sor +a! #eas,re %he %l%!" ! of%e! %wo a=es of arefere!+e *la!e ! %wo a=es& I! +o!%ras%/ a f,ll #o%o!wo,ld ,se a% leas% %hree a=es a!d of%e! add%o!al se!sors&O!e way %o #eas,re %l% a!"le w%h refere!+e %o %he ear%hs"ro,!d *la!e/ s %o ,se a! a++elero#e%er& Ty*+al

a**l+a%o!s +a! $e fo,!d ! %he !d,s%ry a!d ! "a#e+o!%rollers&

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ii. G-ro&0o$

The "yros+o*e #od


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i. I!0i!o#$t$r

A! !+l!o#e%er s ,sed %o s,**or% %he "yros+o*e&Al%ho,"h %he !+l!o#e%er +a!!o% $e ,sed alo!e $e+a,seof %s %#e la"/ % +a! $e ,sed %o rese% %he sof%ware!%e"ra%o! of %he "yros+o*e da%a whe! %he ro$o% s +lose%o res%!" ! a! ,*r"h% *os%o!&

. Utr&o!i0 &$!&or The ,l%raso!+ se!sor s ,sed %o read %he ds%a!+e %o %he"ro,!d a!d +o##a!d %he servos %o #ove ,!%l %heds%a!+e $e+o#es e-,al %o %he *rese% val,e for a *erfe+%$ala!+e&

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3.,.3 4i!" Robot

. T%$ I#ort!0$ o5 4i!" Robot

5al.!" ro$o%s are a! #*or%a!% al%er!a%ve %o drv!"ro$o%s/ s!+e %he #aor%y of %he worldJs la!d area s,!*aved& Al%ho,"h drv!" ro$o%s are #ore s*e+aled a!d

$e%%er ada*%ed %o a% s,rfa+es %hey +a! drve fas%er a!d!av"a%e w%h h"her *re+so! wal.!" ro$o%s +a! $ee#*loyed ! #ore "e!eral e!vro!#e!%s& 5al.!" ro$o%sfollow !a%,re $y $e!" a$le %o !av"a%e ro,"h %erra!/ oreve! +l#$ s%ars or over o$s%a+les ! a s%a!dardho,sehold s%,a%o!/ wh+h wo,ld r,le o,% #os% drv!"ro$o%s&

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Ro$o%s w%h s= or #ore le"s have %he adva!%a"e ofs%a$l%y& I! a %y*+al wal.!" *a%%er! of a s=?le""ed ro$o%/%hree le"s are o! %he "ro,!d a% all %#es/ whle %hree le"sare #ov!"& Ths "ves s%a%+ $ala!+e whle wal.!"/*rovded %he ro$o%Js +e!%er of #ass s w%h! %he %ra!"lefor#ed $y %he %hree le"s o! %he "ro,!d& o,r?le""edro$o%s are +o!sdera$ly harder %o $ala!+e/ $,% are s%ll

farly s#*le whe! +o#*ared %o %he dy!a#+s of $*edro$o%s& B*ed ro$o%s are %he #os% d+,l% %o $ala!+e/ w%ho!ly o!e le" o! %he "ro,!d a!d o!e le" ! %he ar d,r!"wal.!"& S%a%+ $ala!+e for $*ed ro$o%s +a! $e a+heved f%he ro$o%Js fee% are rela%vely lar"e a!d %he "ro,!d +o!%a+%areas of $o%h fee% are overla**!"& However/ %hs s !o% %he

+ase ! h,#a!?l.e a!drod ro$o%s/ wh+h re-,redy!a#+ $ala!+e for wal.!"&

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b. Si6/L$""$d 4i!" Robot D$&i"!

A ro$o% %ha% wal.s o! s= le"s s .!ow! as a he=a*odro$o%& S!+e a ro$o% +a! $e s%a%+ally s%a$le o! %hree or#ore le"s/ a he=a*od ro$o% has a "rea% deal of e=$l%y !how % +a! #ove& If le"s $e+o#e dsa$led/ %he ro$o% #ays%ll $e a$le %o wal.& ,r%her#ore/ !o% all of %he ro$o%s le"s

are !eeded for s%a$l%y4 o%her le"s are free %o rea+h !ewfoo% *la+e#e!%s or #a!*,la%e a *ayload&

Ty*+ally/ !dvd,al le"s ra!"e fro# %wo %o s= de"rees offreedo#& He=a*od fee% are %y*+ally *o!%ed/ $,% +a! also$e %**ed w%h adhesve #a%eral %o hel* +l#$ walls orwheels so %he ro$o% +a! drve -,+.ly whe! %he "ro,!d sa%&

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Mos% of%e!/ he=a*ods are +o!%rolled $y "a%s/ wh+h allow%he ro$o% %o #ove forward/ %,r!/ a!d *erha*s sde?s%e*&So#e of %he #os% +o##o! "a%s are as follows' – Al%er!a%!" %r*od' 3 le"s o! %he "ro,!d a% a %#e&

– V,adr,*ed&

– Crawl' #ove ,s% o!e le" a% a %#e&

Ga%s for he=a*ods are of%e! s%a$le/ eve! ! sl"h%ly ro+.ya!d ,!eve! %erra!& Mo%o! #ay also $e !o!"a%ed/ wh+h#ea!s %he se-,e!+e of le" #o%o!s s !o% EC603/ DIS2012




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0. Bi$d 4i!" Robot

A $*ed wal.!" ro$o% or h,#a!od ro$o% or a!a!%hro*o#or*h+ ro$o% s a ro$o% w%h %s $ody sha*e $,l%%o rese#$le %ha% of %he h,#a! $ody& A h,#a!od des"!#"h% $e for f,!+%o!al *,r*oses/ s,+h as !%era+%!" w%hh,#a! %ools a!d e!vro!#e!%s/ for e=*er#e!%al

*,r*oses/ s,+h as %he s%,dy of $*edal lo+o#o%o!/ or foro%her *,r*oses& I! "e!eral/ h,#a!od ro$o%s have a %orso/a head/ %wo ar#s/ a!d %wo le"s/ %ho,"h so#e for#s ofh,#a!od ro$o%s #ay #odel o!ly *ar% of %he $ody/ fore=a#*le/ fro# %he was% ,*& So#e h,#a!od ro$o%s #ayalso have heads des"!ed %o re*l+a%e h,#a! fa+al

fea%,res s,+h as eyes a!d #o,%hs& A!drods are h,#a!odro$o%s $,l% %o aes%he%+ally rese#$le h,#a!s&

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3_MOBILE ROBOT DESIGN.pptx

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