Design and Control Architecture of a Small Mobile Robot with Hybrid Locomotion System

This paper presents design and control architecture of a small mobile robot with hybrid locomotion system. It consist the combination of wheel and track type motion system resulting as a hybrid mechanism. The wheel locomotion system helps the robot to move on flat surface or path platform with high velocity, high manoeuvrability at low energy consumption. The track system is designed for rough and unstructured path, where robot need to cross irregular surface with high stability. This system works on interchangeable locomotion phenomena by means of track tensioner unit (TTU). The TTU helps the loading and unloading of track system by means of rack and pinion mechanism. This design of small hybrid mobile robot is improves robot applications and also enhance its flexibilty, verstality to work in multi type of terrains.

[1]  Jianwei Zhang,et al.  A Novel Reconfigurable Robot for Urban Search and Rescue , 2006 .

[2]  Nima Enayati,et al.  Design and manufacturing of a tele-operative rescue robot with a novel track arrangement , 2011, Ind. Robot.

[3]  Kai Xue,et al.  A reconfigurable mobile robot with 5th wheel , 2009, 2009 International Conference on Mechatronics and Automation.

[4]  François Michaud,et al.  Multi-Modal Locomotion Robotic Platform Using Leg-Track-Wheel Articulations , 2005, Auton. Robots.

[5]  Pierluigi Rea,et al.  A new articulated leg for mobile robots , 2011, Ind. Robot.

[6]  Giuseppe Quaglia,et al.  Epi.q-TG: mobile robot for surveillance , 2011, Ind. Robot.

[7]  Aftab Ahmed,et al.  Comparative Study between Wheeled and Tracked Mobility System for Mobile Robot , 2013 .

[8]  Dong-Hun Lee,et al.  Mobile Robot Design apply to Design Concept , 2006, 2006 SICE-ICASE International Joint Conference.

[9]  Kanesan Muthusamy,et al.  An Innovative Design to Improve Systematic Odometry Error in Non-holonomic Wheeled Mobile Robots , 2012 .

[10]  Alessandro Gasparetto,et al.  Efficient force distribution and leg posture for a bio-inspired spider robot , 2011, Robotics Auton. Syst..

[11]  Noriho Koyachi,et al.  Development of a leg-wheel hybrid mobile robot and its step-passing algorithm , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[12]  Ahmet Bugra Koku,et al.  Design of a Configurable All Terrain Mobile Robot Platform , 2009 .

[13]  Qixin Cao,et al.  Motion planning for omni-directional mobile robots based on anisotropy and artificial potential field method , 2009, Ind. Robot.