The document presents a new hybrid locomotion mechanism called triangular tracked wheel (TTW) aimed at enhancing mobility for robots in search and rescue applications. It discusses the kinematics, locomotion styles, and power requirements of the TTW system while comparing it to earlier works. The proposed design emphasizes efficiency and adaptability in challenging environments.

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!