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Based on the two aspects discussed in front, a novel high adaptability out-door mobile robot is proposed in this paper, which has four diameter-variable wheels and passive swinging suspension. In this case, wheeled and legged structures are combined in order to keep their respective advantages. There is another advantage that the suspension is able to adapt to terrain automatically and thus can ensure the stability of robot moving in rough unstructured terrain. The typical useful application [6] can be the use of mobile robotic systems in rough, unstructured environment, such as underground mines, community, pipeline detection, disaster sites, and planetary explorations. II. STRUCTURE DESIGN OF THE MOBILE ROBOT A. Structure Scheme Fig.1 shows a kind of retractable polyhedron institution based on single-degree of freedom. Its basic unit structure is a kind of planar linkage mechanism. The mechanism is driven by the center triangles rotation. Based on retractable polyhedron institutions discussed in the front, a kind of new wheel (Fig.2) that has foldable ability and good obstacle-surmounting performance is proposed.
I. INTRODUCTION Wheeled mobile robots have advantages of good performance of moving smoothly and fast, but its obstacle surmounting performance and adaptability are a little poor [1] [2]. Considerable research has been done on wheel structure to improve the trafficability of wheeled robot. A typical method that improves capability of climbing obstacle is to change the wheel diameter such as triangle fork mechanism. The radius of the wheel and the length of triangle fork are equal, as well as their centers are in the same height level. Clearly the triangle fork has good obstacle-climbing performance. The Case Western Reserve University of United States developed a mobile robot which adopts such a structure [3] [4]. This structure enlightened by the crawling movement of cockroaches has a good bionic and a strong capacity to cross the obstacle. Another way to improve the capability of climbing obstacle is to change suspension system into other institutions such as legged structures. A typical way that can support this method is Leg-Wheel walking robot [5] which designed by C. Tavolieri and E. Ottaviano in University of Cassin. The leg structure that mentioned has one DOF (degree of freedom) and it is possible to have one actuator moving both legs while wheels are passive.
*This work is partially supported by Science and Technology Planning
Program of Shenzhen City (grant No.JC201005270361A), Shenzhen key projects of basic research (grant No.JC201005270375A), Natural Science Foundation of China (grant No.51005227) and CAS Knowledge Innovation project (grant No.KGCXZ-YW-128).
The wheel suggested in the paper has two basic functions, one in normal flat terrain, the traditional circle wheel can realize its high speed, smooth, and stability performance, and the other is in rough terrain with varying characteristics, the foldable wheel unfolds to realize good performance of obstacle-surmounting. In order to improve the robots terrain adaptive capability, we eventually designed the outdoor mobile robot as shown in figure 3. There are four combined foldable wheels as well as a passive swinging suspension. Each wheel is driven independently. The swinging suspension helps to make robot
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adapt to rough terrain. The ability of anti-overturning is enhanced. Each part structure is shown in Fig.3.
(4) Each point of the blade move translational parallel to the stationary bar respectively. Next we can get the folding rate by calculation. The final way is to get the coordinate of point D . There are two methods, one analytical method, and the other geometric method. Method 1: The equation of line AD is: (5) y L cos L = cot ( x L sin ) Knowing l AD = 2 3 L and the coordinate of point A beforehand, can we get the coordinate of point D through the information above. Method 2: By the relationship of geometric, the coordinate can be described directly as: ( xD , yD ) = ( L sin + l AD sin , L cos + L l AD cos ) (6)
2 lOD = 2 L2 (1 + cos ) + l AD 2 Ll AD [cos + cos( + )] (7) From equation (7), the max length of OD has relationship with the variable value , constant value and l AD . When
K A = L ,
K a A = L 2
B. Kinematical Analysis To study the kinematics of the foldable wheel easily, the mechanism is decomposed into three branch chains. As the institution is centrally symmetric, we can get the whole motion situation of this mechanism through the analysis of any article of branch institution. As shown in Fig. 4, point O is the center of the foldable wheel, all the connecting rods are the same and the length is L . OE , OF with angle 120 are the components of the same part. Linkage OB is a rod of a trigeminal stem. The angle between OB and OE is . Points A, C are two connecting points of the blade while D is its endpoint. From Fig.4, the most important task is studying the motion of the blades, and line AC is parallel to line EF which doesnt move while unfolding. So the motion of blade ACD is a translational motion. Kinematics equation could be obtained by studying any point of the blade ACD .
Y
l AD = 2 3 L , = 30 the limitation situations of are 0 degree, the foldable wheel folds to normal wheel. So that: =0o, = 2 L (8)
When =120o, = 13L , point O, B and C are in the same line, the wheel diameter reach the maximum value. The folding rate of the wheel could be 1.8028. C. Obstacle-navigation performance analysis Mobility or trafficability is the most important and basic performance of out-door mobile robots [7]. It includes the obstacle surmounting ability, smooth, terrain adaptive, the stability, steering sensitivity, and so on. Among them, the obstacle-surmounting performance is one of the most important indexes, which can reflect the ability of the robot with diameter-variable wheel structure climbing obstacle and getting through rough unstructured terrain. Studying the obstacle-navigation performance of robots on one hand leads us understand obstacle-surmounting principle theoretically, on the other hand it is the basis reference of designing the robot. On rough terrain, when ordinary circle wheel cant pass through obstacles with height greater than the radius of the wheel, the foldable institutions spread out into leg-wheel structure to improve ability of climbing obstacles. For simplicity, the wheel in Fig.2 is simplified to ordinary wheel-leg structure (see Fig.5). It is the outline of the middle state of unfolding process. The principle of obstacle-navigation is that when the front leg contact with obstacles, under the effect of the friction from terrain, the gravity center goes upwards, meanwhile, the angle between the line connect the center of front and back wheel and the horizontal getting greater and greater, the gravity center move ahead slowly. In climbing over the obstacle, the necessary for success is in the moving direction the gravity center beyond the climb fulcrum. In this situation, the gravity provides the whole flip torque so as to speed up trespassing.
O L B
C D
The coordinate of point A is: (2 L cos sin ,2 L cos cos ) = ( L sin , L + L cos ) (1) 2 2 2 2 G G G A = ( L cos , L sin ) (2) G G K K2 K2 a A = ( L sin + L cos , L cos L sin ) (3) G Among which: is the velocity of trigeminal stem OB , G and is its acceleration. G G K K As = 0 , a A = ( L sin 2 , L cos 2 ) the modulus of velocity and acceleration of point A respectively are:
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Wheel-leg structure has stronger obstacle-climbing capability compared to common wheeled structure. We can approximately calculate the limit height of obstacles that the robot can climb. Suppose every part of the institutions has no deformation, the height of obstacle that robot can climb is h ; N1 comes from the force between terrain and front wheel; the length of the whole robot is L1 ; the length of the line connect the center of front and back wheel is L2 ; the distance along the length of robot between the center of front wheel and the center of gravity is L3 ; the force analysis when robot connect with terrain is shows in Fig.6.
: The angler between the line that connect with point A and the center of front wheel and x direction; : The angler between the line which connect with centers of front and back wheels and x direction; When = 0 degree M 1 gets its biggest value, which means when the instance that the front wheel raised, the orientation angler has not changed, the value of torque of front wheel becomes maximum. This moment is the critical one. At the moment as long as the value of torque satisfies the requirement of trespassing, robot can climb the obstacle eventually. From the geometric relationships Fig.6 shows can we get the height of obstacles that robot can climb theoretically: h l cos(120 90 ) + l sin = 3l sin(30 + ) (13) Suppose the front of robot wont touch the obstacle surface, see Fig.6, the limit position is that leg 2 connect with obstacle surface, leg 1 tangent with obstacle surface, according to geometric relationship, we know that max 43 l max = r1 (14) Take (14) into (13) we get the limitation height of obstacle that robot can climb. hmax 1.656r1 (15) So the limitation of height that foldable wheel can climb is 1.6 times radius of wheel-leg institution. While in this article the folding rate is 1.8, so the height of robot can climb over is 2.97times as long as the radius of original wheel. D. Stability analysis There is another problem-stability analysis. That is affected on the whole robots overturn from the position of gravity center. The static stability condition is the projection of the center of mass falls in the projection polygon formed by the supporting points [8].
Suppose the values of torque of all motors are the same, from Fig.6 we get: M 1 M 2 (9) Take point B as the reference point, there is torque balance that: ( f1 sin + N1 cos ){l cos + [ L2 r1 cos( )] cos } + (10) ( f1 cos + N1 sin )[l sin + L2 sin + r1 sin( )]
= 0.5G[( L2 L3 ) cos r1 cos( )] + M 1 + M 2 The force balance: N1 cos + f1 sin + N 2 = G (11) The torque of front wheel is: M 1 = ( N1 cos + f1 sin )l cos + ( N1 sin + f1 cos )l sin (12) = N1l cos( ) + f1l sin( + ) Among which, l : The distance between the center of front wheel and point A ; r1 : The diameter of wheel-leg;
The limitation situation is 1 L cos (16) 2 2 Where point O is robot center of gravity; the distance between gravity and wheel center attachment is b ; e is the distance that gravity away from the vertical surface that through wheel centers. So one of ways to improve ability of robots climbing obstacle is decrease the value of b and e , the other is increase the value of L2 .
b sin + e cos <
: The angler between adjacent wheels; : The angler between the anti-force and y direction;
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III. NEWTON-EULERS EQUATIONS Fig.8 is the dynamic model of this four-wheel robot. XYZ Coordinate system fixed on the ground, with XY plan superposed to the plan which decided by the centers of four wheels. xyz Coordinate system fixed on the robot with its origin superposed to the gravity center of the robot. In the figure, Fti , F fi , Fsi , N i are driving force, rolling resistance, transverse force, and supporting force from ground respectively for the ith wheel ( i=1 2 3 4). The coordinate of wheel center in xyz system is (ai , bi , ci ) . Values K A , K B are the radius and resilient rigid coefficients of wheel respectively, and C A , CB are radius and transverse damping coefficients of wheel respectively.
(22)
Q1T : The transposed matrix of Q1 Ignoring the influence of elastic deformation of wheels, the torque of Fix , Fiy and Fiz around the driven shaft respectively is