Triangular Tracked Wheel locomotion mechanism


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

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Triangular Tracked Wheel locomotion mechanism

  1. 1. Triangular Tracked Wheel Amir H. Soltanzadeh [email_address] ME Dep @ IAUCTB A new hybrid locomotion mechanism for higher mobility
  2. 2. Acknowledgement <ul><li>Dr. Hossein Mahbadi </li></ul><ul><li>Professor of Mechanical Engineering </li></ul><ul><li>Islamic Azad University of Central Tehran Branch </li></ul><ul><li>Head of ME Dep. and Robotics Lab @ IAUCTB </li></ul>
  3. 3. Outlines <ul><li>Kinematics of TTW locomotion mechanism </li></ul>
  4. 4. Motivation <ul><li>Developing robots to be used in USAR application </li></ul>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. 5. The Problem <ul><li>Mobility </li></ul><ul><li>Power Consumption </li></ul><ul><li>Size </li></ul><ul><li>Weight </li></ul><ul><li>Robustness </li></ul>Void:1’x2.5’x60’
  6. 6. Earlier Works <ul><li>Joint Control </li></ul>Space Cat Van Winnendael et al, EPFL (1998) Stair Climbing Vehicle J. Florystair, U.S. patents (1966) Passive Active
  7. 7. TTW <ul><li>Triangular Tracked Wheel </li></ul>1. Moving tracks 2. Rotating triangular frames 2 DOF
  8. 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. 9. Locomotion Styles <ul><li>Locomotion </li></ul>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. 10. Traction Management <ul><li>Joints’ Active Controlling (Position Mode) </li></ul>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. 11. Surface Adaptation <ul><li>Joints’ Passive Controlling </li></ul>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. 12. Thank You!