Your SlideShare is downloading. ×
0
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Triangular Tracked Wheel locomotion mechanism
Upcoming SlideShare
Loading in...5
×

Thanks for flagging this SlideShare!

Oops! An error has occurred.

×
Saving this for later? Get the SlideShare app to save on your phone or tablet. Read anywhere, anytime – even offline.
Text the download link to your phone
Standard text messaging rates apply

Triangular Tracked Wheel locomotion mechanism

1,030

Published on

This presentation shows TTW locomotion mechanism designed by Amir H. Soltanzadeh et al at robotics lab in IAUCTB.

This presentation shows TTW locomotion mechanism designed by Amir H. Soltanzadeh et al at robotics lab in IAUCTB.

Published in: Technology, Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total Views
1,030
On Slideshare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
Downloads
18
Comments
0
Likes
0
Embeds 0
No embeds

Report content
Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
No notes for slide

Transcript

  • 1. Triangular Tracked Wheel Amir H. Soltanzadeh [email_address] ME Dep @ IAUCTB A new hybrid locomotion mechanism for higher mobility
  • 2. Acknowledgement
    • Dr. Hossein Mahbadi
    • Professor of Mechanical Engineering
    • Islamic Azad University of Central Tehran Branch
    • Head of ME Dep. and Robotics Lab @ IAUCTB
  • 3. Outlines
    • Kinematics of TTW locomotion mechanism
  • 4. Motivation
    • Developing robots to be used in USAR application
    Search To look through in a place or in an area carefully in order to find something missing or lost Rescue To free or deliver victim from confinement.
  • 5. The Problem
    • Mobility
    • Power Consumption
    • Size
    • Weight
    • Robustness
    Void:1’x2.5’x60’
  • 6. Earlier Works
    • Joint Control
    Space Cat Van Winnendael et al, EPFL (1998) Stair Climbing Vehicle J. Florystair, U.S. patents (1966) Passive Active
  • 7. TTW
    • Triangular Tracked Wheel
    1. Moving tracks 2. Rotating triangular frames 2 DOF
  • 8. Powertrain 4 TTW’s in a robot and 2 DOF in each TTW, does it mean 8 motors are required? 2 motors for tracks (both right, both left) 2 motors for triangular frames (both front, both rear) 4 motors are needed!
  • 9. Locomotion Styles
    • Locomotion
    Continuous (85%) Discrete (5%) Combined (10%) Discrete movement? Active (Position controlled)/Passive Active (velocity controlled) Active (velocity controlled) Velocity of CG periodically becomes 0 three times in a cycle and causes a “Stop-Go” movement style. Like a Four-legged robot!
  • 10. Traction Management
    • Joints’ Active Controlling (Position Mode)
    Positive (70%) Negative (5%) Trans (10%) Maximum traction Tracked vehicle Climbing slopes Minimum traction Directional traction Wheeled vehicle Turning Traversing in stones To reduce power consumption of Joint Controlling System, Positive configuration is achieved in Passive mode.
  • 11. Surface Adaptation
    • Joints’ Passive Controlling
    Lateral Adaptation Axial Adaptation To enhance traction without any processing load on control system Axial Adaptation can also be performed even in Active joint controlling!
  • 12. Thank You!

×