Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System

This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the tower-typed mobile robots is that the vibrations that originate in the lower part of the structure are transmitted and amplified to the higher areas of the tower, causing an unpleasant visual effect and mechanical stress. This paper assesses the use of a suspension system aimed at minimizing the generation and propagation of vibrations in the upper part of the tower-typed holonomic robots. The two robots analyzed were equipped with onboard accelerometers to register the acceleration over the X, Y, and Z axes in different locations and at different velocities. In all the experiments, the amplitude of the vibrations showed a typical Gaussian pattern which has been modeled with the value of the standard deviation. The results have shown that the measured vibrations in the head of the mobile robots, including a passive suspension system, were reduced by a factor of 16.

[1]  Charles P. Neuman,et al.  Kinematic modeling of wheeled mobile robots , 1987, J. Field Robotics.

[2]  John Blitch,et al.  Artificial intelligence technologies for robot assisted urban search and rescue , 1996 .

[3]  M. West,et al.  Design of Ball Wheel Mechanisms for Omnidirectional Vehicles With Full Mobility and Invariant Kinematics , 1997 .

[4]  H. Harry Asada,et al.  Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs , 1999, IEEE Trans. Robotics Autom..

[5]  Keiji Nagatani,et al.  Improvement of odometry for omnidirectional vehicle using optical flow information , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[6]  Scott Fish.  UGVs in future combat systems , 2004, SPIE Defense + Commercial Sensing.

[7]  Steven Dubowsky,et al.  Vibration-based Terrain Analysis for Mobile Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[8]  Karl Iagnemma,et al.  Vibration-based terrain classification for planetary exploration rovers , 2005, IEEE Transactions on Robotics.

[9]  Andreas Zell,et al.  Vibration-based Terrain Classification Using Support Vector Machines , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Jaime Gómez Gil,et al.  The Influence of Tractor-Seat Height above the Ground on Lateral Vibrations , 2014, Sensors.

[11]  Dani Martínez,et al.  Ambient Intelligence Application Based on Environmental Measurements Performed with an Assistant Mobile Robot , 2014, Sensors.

[12]  Young-Jae Ryoo,et al.  Vibration Minimization of Tower Typed 2-Wheeled Mobile Robot Using Acceleration and Deceleration Velocity Profile Method , 2014 .

[13]  Carlos Morón,et al.  New System for Measuring Impact Vibration on Floor Decking Sheets , 2015, Sensors.

[14]  Jian Xiao,et al.  Multi-Camera and Structured-Light Vision System (MSVS) for Dynamic High-Accuracy 3D Measurements of Railway Tunnels , 2015, Sensors.

[15]  Jindong Liu,et al.  Surface classification based on vibration on omni-wheel mobile base , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[16]  Xiangbo Xu,et al.  Field Balancing and Harmonic Vibration Suppression in Rigid AMB-Rotor Systems with Rotor Imbalances and Sensor Runout , 2015, Sensors.

[17]  Francis Berghmans,et al.  Vibration Monitoring Using Fiber Optic Sensors in a Lead-Bismuth Eutectic Cooled Nuclear Fuel Assembly † , 2016, Sensors.

[18]  Eduard Clotet,et al.  Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR) , 2016, Sensors.

[19]  Kimihiko Nakano,et al.  Effectiveness Testing of a Piezoelectric Energy Harvester for an Automobile Wheel Using Stochastic Resonance , 2016, Sensors.

[20]  Eduard Clotet,et al.  Assistant Personal Robot (APR): Conception and Application of a Tele-Operated Assisted Living Robot , 2016, Sensors.

[21]  Cristina Castejón,et al.  Automatic condition monitoring system for crack detection in rotating machinery , 2016, Reliab. Eng. Syst. Saf..

[22]  Kyung Seok Byun,et al.  Analysis of factors related to vertical vibration of continuous alternate wheels for omnidirectional mobile robots , 2016, Intell. Serv. Robotics.

[23]  Jong-Jin Bae,et al.  Design Optimization of a Mecanum Wheel to Reduce Vertical Vibrations by the Consideration of Equivalent Stiffness , 2016 .