[机械模具数控自动化专业毕业设计外文文献及翻译]【期刊】ResQuake：远程操作救援机器人-外文文献

1Robotekinematicanalyzedol, andDOI:obots,1moreousposed,difbombs,orbitendangered H208511H20852. So, it is expected that mobile robots, whetherautonomous or tele-operative, play a more important role in dif-ferent fields of human life. However, in a mobile robotic system,dynamicbaseddynamics,researchAftershockssecondaryandwhilecollaborativerobotstheirbuildingmanbeingvictimscommunicationsthermal,less,mechanism is addressed. Then, the robot control system is de-scribed. Finally, slip coefficients are identified and validated byvarious tests to improve the system tracking performance.inmanuscriptbyJournalDownloaded 02 Dec 2009 to 00. Redistribution subject to ASME license or copyright; see /terms/Terms_Use.cfmforces affect the motion of the base and the manipulators,on the action and reaction principle. Therefore, kinematics,and control of such systems have received extensiveattention H2085125H20852.Earthquake is a natural incident, which threatens human life.occurring a while after the main earthquake causecollapses and may take victims away from the searchrescue personnel. In order to minimize the risks for rescuers,increasing victim survival rates, exploiting fielding teams ofrobots is a good alternative. The mission for theand their operators would be to find victims, determinesituation, and then report their findings based on a map of theH208516,7H20852. This information will immediately be given to hu-rescue teams. Further expectations of rescue robots such asable to autonomously search collapsed structures, findingand ascertain their conditions, delivering sustenance andto the victims, and emplacing sensors H20849acoustic,seismic, etc.H20850 are ongoing research subjects. Neverthe-the basic capability of rescue robots is their maneuverabilityResQuake has great capabilities for moving in unstructured envi-ronment, on rough trains, and even climbing stairs, with a user-friendly operative interface. Its performance has been demon-strated in the rescue robot league of RoboCup 2005 in Osaka,Japan, achieving the second best design award, RoboCup 2006 inBremen, Germany, achieving the best operator interface award,and RoboCup 2008 in Suzhou, China, achieving the second bestaward for mobility.2 Mechanism DesignThere are three major categories of search and rescue robots interms of their locomotion system, i.e., wheeled, tracked, and1Corresponding author.Contributed by the Mechanism and Robotics Committee of ASME for publicationthe JOURNAL OF MECHANICAL DESIGN. Manuscript received July 21, 2008; finalreceived May 7, 2009; published online July 20, 2009. Review conductedAshitava Ghosal.Fig. 1 ResQuake in different conditions; left folded tracks,right extended tracks climbing up a ramp uneven surfaceof Mechanical Design AUGUST 2009, Vol. 131 / 081005-1Copyright 2009 by ASMES. Ali A. MoosavianAssociate Professore-mail: moosaviankntu.ac.irArash KalantariGraduate Studente-mail: Hesam SemsarilarGraduate Studente-mail: Ehsan AboosaeedanGraduate Studente-mail: Ehsan MihankhahGraduate Studente-mail: Advanced Robotics and Automated Systems(ARAS) Laboratory,Department of Mechanical Engineering,Khaje Nasir Toosi University of Technology,P.O. Box 19395-1999,Tehran 19991 43344, IranResQuake:RescueThe design proceduranalysis, manufacturingimprovement are discussed.fined, and various mechanismsChoosing the appropriatedetailed to developeach component issented. Then, the contrthe master processorslip coefficients of trackssystem tracking performance.cue robot leagues. H20851Keywords: mobile rslippage estimationIntroductionMobile manipulators, which consist of a platform and one ormanipulators, have an unlimited workspace. Therefore, vari-legged, wheeled, tracked, and flying systems have been pro-and successfully put into practice. Such systems are used inferent kinds of fields such as fire fighting, forestry, deactivatingtoxic waste cleanup, transportation of materials, space on-services, and similar applications in which human health isA Tele-Operativeof ResQuake as a tele-operative rescue robot and its dynamicsprocedure, control system, and slip estimation for performanceFirst, the general task to be performed by the robot is de-to form the basic structure of the robot are discussed.mechanisms, geometric dimensions, and mass properties areand dynamic models for the system. Next, the strength ofto finalize its shape, and the mechanism models are pre-system is briefly described, which includes the operators PC asthe laptop installed on the robot as the slave processor. Finally,are identified and validated by experimental tests to improve theResQuake has participated with distinction in several res-10.1115/1.3179117H20852tele-operative, locomotion mechanisms, control architecture,in destructed areas, which thoroughly depends on their locomo-tion system and their dimensions. Various rescue robots were de-signed and manufactured so far H208518,9H20852.This paper presents an illustrative description of the ResQuakeproject at Khaje Nasir Toosi University H20849KNTUH20850, as shown in Fig.1. First, designing procedure for the locomotion mechanism willbe detailed, and the system dimensions and related parameters aredetermined. Next, the system kinematics and dynamics is dis-cussed, and the sequence of stress analysis for each member of theleggedflatdueclimbingTmovesystemssmallerH20849modelingthequiresexpensive.thecomotionventedmechanismwhilerain.cueronment,ceilingssituations,thependspassagewaywaysdestructedupofFig.sameof081005-2Downloaded 02 Dec 2009 to 00. Redistribution subject to ASME license or copyright; see /terms/Terms_Use.cfmrobots. Wheeled robots could be considered for searchingareas. Developing the autonomy for these systems is easierto their simple dynamics. A wheeled robot is also capable ofobstacles with a height smaller than their wheels.racked robots are used mostly because of their great ability toon uneven terrains. Figure 2 shows wheeled and trackedfacing the same obstacle H20849stairH20850. It can be seen that atracked robot has the same capability.Legged robots usually possess high degrees of freedomDOFsH20850, and thus, high maneuverability. Consequently, dynamicsand stability of such systems is more complicated thanformer types. Besides, implementation of such systems re-numerous actuators and sensors, so their control is moreIt should be also mentioned that with a combination oftwo wheeled and legged mechanisms, advantages of both lo-systems can be preserved while shortcomings are pre-H2085110H20852. In a hybrid wheel-legged mechanism, wheeledcan support the weight of the legged mechanism,the legged mechanism can move the robot on a rough ter-Regardless of the type of locomotion system, the size of a res-robot is also an important issue. In a destructed indoor envi-some obstacles may exist such as collapsed walls orthat cannot be easily passed by usual systems. In suchthe robot should search for a bypass or a way betweenobstacles rather than climbing over them; that definitely de-on its size. A relatively small robot can easily pass a narrowand continue its search. It should be noted that stair-are an inseparable part of an indoor environment. Whetheror not, a rescue robot should have the ability to climband down stairways in order to search the whole area.In order to compromise between the two contradictory aspectsproviding a small robot with high maneuverability, a tracked2 Two types of locomotion systems encountering theobstacleFig. 3 a Minimum length for tracksradius of a simple track robot/ Vol. 131, AUGUST 2009mechanism has been developed for ResQuake. This mechanismincludes a main body H20849baseH20850 with two expandable tracks H20849armsH20850.This arrangement enables the robot to resize depending on thesituation it encounters. Accordingly, these tracks should have aminimum length to prevent loosing its balance, and having asteady movement on successive stairs without extra vibrations, asshown in Fig. 3H20849aH20850. On the other hand, lengthy tracks such asthose of a simple track robot will require a wide area for turning,as shown in Fig. 3H20849bH20850, which is rarely available in a destructedenvironment.2.1 Expandable Tracks (Arms). The structure shown in Fig.4 enables the robot to expand the length of its tracks to passthrough obstacles. On the other hand, when the robot is goingthrough narrow passages and needs to be rather small, the fronttracks can be folded. This helps with reducing the turning radiusas well. Folding arms was the original idea, developed to over-come the aforementioned contradiction.This concept has been improved to a system with two pairs ofarms at both sides of the vehicle, as shown in Fig. 4H20849bH20850, to reducethe length of the robot with folded arms while the expandedlength fulfills other requirement. Another advantage would be thesymmetry of the structure, which enables the robot to moveequivalently in both forward and backward directions. This ar-the robot and b minimum turningFig. 4 a Preliminary design of just front tracks arm and bimproved design with two pairs of arms front and rearTransactions of the ASMErangementwidthorderH20849stretchedtraction.increaseofsimplyseconddependent.configurationssuchthesearm,chainmainchain,beattachedplaceddoesmainmechanismwillgaptrackthesmallFig.robotJournalDownloaded 02 Dec 2009 to 00. Redistribution subject to ASME license or copyright; see /terms/Terms_Use.cfmfacilitates turning in a confined space.Next, the arms are placed in the same plane to reduce the robotH20849Fig. 5H20849aH20850H20850. Finally, another joint is added to each arm into use an extra area between the arms when they are folded,Fig. 5H20849bH20850H20850. Therefore, the tracks on each side of the robot areinto three parallel planes, which provide a more efficientAdding four independent H20849activeH20850 joints to the system wouldthe number of actuators and consequently the total pricethe system. Therefore, a planetary gear set has been used totransmit the power of the main joint of each arm to itsjoint. So, rotation of the two parts for each arm will beThe gear ratio is obtained, considering two desirableof the arms; H20849iH20850 fully stretched and H20849iiH20850 fully folded,that the arms can move, based on a desired plan betweentwo configurations H20849Fig. 6H20850.As shown in Fig. 6, for a H9266/2 rad rotation of the main part ofthe second part should rotate more than H9266 rad. The gearwith such performance should be a planetary gearbox. Thepart of the first arm plays the role of the arm in the planetarywhich is directly powered by a motor. The sun gear shouldattached to the main body of the robot, and the planet gear isto the second part of the arm. A pair of medium gears isbetween the sun and the planet where the diameter of gearsnot exceed a given threshold, which is the diameter of thewheels of the tracks H20849Fig. 7H20850. Another advantage of thisis that the center distance of the two joints of the armremain constant during its rotation. This enables us to fill thebetween the main track, and the arm with another track. Thisis used to transmit power from the main part of the tracks tosecond part on the arm.Helical gears are chosen for the planetary gear set, due to theirbacklash and higher strength of gear tooth comparing with5 a Making the tracks collinear to reduce the width ofand b final mechanism chosen for the tracksFig. 6 The path for motion of the armsFig. 7 Planetary gear chainof Mechanical Designspur gears H2085111,12H20852. The angular velocity of the arm should be lessthan 24 rpm. The motors output velocity is 3000 rpm. Hence,the velocity ratio between the motor and the link should be ap-proximately 1000. A combination of a three stage planetary gear-box H20849constructed right at the motor shaft where the angular veloc-ity is relatively highH20850 with a ratio of 3:1 at each stage, and a wormgear set with a ratio of 30:1 provides the desirable ratio in alimited available space H20849Fig. 8H20850. A dc motor drives the tracks ateach side of the robot.2.2 Tracks. The traction of the locomotion system stronglydepends on the friction between the track pieces and the surfaceon which the robot moves. Therefore, the material and the shapeof the track pieces are of great importance H2085113H20852. On the otherhand, the tracks should also bear a reasonable tension. Designedtracks are made of two main parts. A basis of chain-sprocket pro-vides the system with sufficient tensile strength, and tooth shapedpieces made of latex fills the gap between the chain and the sur-face to create the required friction. Metal chains have been modi-fied by replacing pins of the standard chain with longer pins, andthe latex grousers are mounted directly on them. Figure 9 showsmodified chains and how the grousers are mounted on these pins.One of the most important problems caused by base movement,when the system undergoes a fast maneuver or tries to climb aslopped terrain, is the instability problem or tipping over H2085114H20852.Noting this, two major advantages are obtained by including asuspension mechanism.The suspension system was designed by containing two sur-faces on the main body, and then attaching them by a revolutejoint H20849Fig. 9H20850. A pair of linear springs limits the angle of rotationand makes the system remain at a desired position when no extraforces are applied. It should be mentioned that the use of dampersFig. 8 Final designed arrangement for the armsFig. 9 Top: latex pieces fixed on the chain; bottom: basicstructure of the suspension systemAUGUST 2009, Vol. 131 / 081005-3wasthesprings.mechanisms,componentsdardparts.themerousnotuseddimensionssummarized3canintionedthecoordinate11lows:ParameterCCLCddddGap1Gap2HHLL081005-4Downloaded 02 Dec 2009 to 00. Redistribution subject to ASME license or copyright; see /terms/Terms_Use.cfmnot needed because the friction of the sliding bearings used asso-called joints was enough to limit any extra shaking of the2.3 Final Dimensions. Finishing the design of locomotionthe dimensions are to be determined. Some of thelike metal chains and sprockets are available as stan-parts, so that other dimensions should match their counter-Besides, the overall size of the robot and the formulas ongear chains must be considered in the calculations. Since nu-equations govern these factors, an optimized solution isreachable by manual calculations. Thus, MATLAB has beento find the desired values from a set of equations. The mainconsidered in this procedure are shown in Fig. 10 andin Table 1.Kinematics AnalysisA mobile rigid platform has three DOF in a flat plane, whichbe defined either in the body coordinate frame c:H20853x,y,H9278H20854,orthe inertial coordinate frame C:H20853X,Y,H9272H20854. It should be men-that the body coordinate frame is fixed to the main body ofrobot with the x axis along with the tracks, while the inertialframe is fixed to the plane of motion as shown in Fig.H2085115,16H20852.The direct kinematics is developed in the main frame as fol-Table 1 Dimensional parameters of robotValueH20849mmH20850 Descriptionm292.1 Center to center distance of main sprockets127 Center to center distance of linka106.2 Center to center distance of arm sprocketsG143.9 Pitch diameter of the sun gearG243.9 Pitch diameter of the first medium gearG341.6 Pitch diameter of the second medium gearG439.3 Pitch diameter of the planet gear5 Gap between folded arm and main body9 Gap between folded armstrack14 Height of track partstotal260 Height of the robottotalF 400 Length of the robot with folded armstotalO 760 Length of the robot with open armsFig. 10 Main lengths for determining/ Vol. 131, AUGUST 2009H20849X,Y,H9272H20850 =H9024H20849H9275r,H9275lH20850H208491H20850which relates the velocity components of the main body to theangular speeds of the right and left tracks. The speed of the righttrack is calculated byVr= rH9275rH208491irH20850 = rH9275rirH208492H20850where r is the driving wheel radius, H9275ris the angular speed, and iris the slip coefficient of the right track that is defined asir=Vt VrrVt=1VrjVtH208493H20850where Vtis the theoretical speed, and Vrris the real speed of theright track. Equations H208492H20850 and H208493H20850 can be similarly rewritten for theleft track.On the other hand, the velocity components for a point like Fon the robots axis of symmetry can be obtained asx = cbH20851H9275rir+H9275lilH20852y = lGH9278 cbH20851H9275rir+H9275lilH20852 tanH20849H9251H20850H9278= cH20851H9275rirH9275lilH20852H208494H20850where b is equal to the half width of the robot, c is a constantequal to r/2b, and H9251 is the slip angle of the robot, which has athe other dimensionsFig. 11 The robot moving on a circular pathTransactions of the ASMEnonzero value in the presence of side slippage. Lateral or sideslippage happens mainly due to the centrifugal force exerted to therobot when moving on a curved path with a relatively high speed.MaximumceedBesides,resultsrobotglected,ItterclockwisetheFromReplacingwhichgratedconfigurationtionSubstitutingsentedwhereKeepingrotationItsecondJournalDownloaded 02 Dec 2009 to 00. Redistribution subject to ASME license or copyright; see /terms/Terms_Use.cfmlongitudinal speed of the chosen platform does not ex-0.3 m/s, which will result in a negligible centrifugal force.the design of the tracks treads, as explained in Sec. 2.2,in a large lateral friction force, which in turn helps theto not slip laterally. Therefore, the lateral slippage is ne-and Eq. H208494H20850 is rewritten asx = cbH20851H9275rir+H9275lilH20852H208495aH20850y = lGH9278H208495bH20850H9278= cH20851H9275rirH9275lilH20852H208495cH20850shoul