Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

IEEE Access

Manuel Vega Heredia¹  Karthikeyan Elangovan²  Koppaka Ganesh Sai Apuroop²  Rizuwana Parween²  Abdullah Aamir Hayat²  Mohan Rajesh Elara³ 

[1] Apt of Engineering and Technology, Universidad Aut&x00F3;Engineering Product Development, Singapore University of Technology and Design, Singapore;noma de Occidente, Los Mochis, Mexico;

关键词: Drain mapping robot;    self-reconfiguration;    level-shifting;    bi-directional rolling wheel;   

DOI  :  10.1109/ACCESS.2020.2997895

来源: DOAJ

【 摘 要 】

Nature has always been an inspiration for engineers and designers to have technological inventions. The postures, locomotion and gait cycles of animals are usually smooth, dynamically stable, and highly adaptable in an unknown terrain. Based on a giraffe's leg folding pattern, we develop a quadruped hybrid drain mapping robot with modular sub-systems, four bar inversion mechanism based legs and bi-directional rolling wheel, named, Tarantula-II. The platform undergoes self-reconfiguration and achieves variable height and width, which in turn helps in navigation in a drain with multiple level-shifts. This paper describes the key features of giraffe's limb, how the folding pattern of the limbs are implemented in the robot design. In addition, we discuss the detailed mechanical design of platform, the kinematics analysis of each leg, kinematics of the platform with respect to wheels, and structural analysis of the platform under different gait condition. Applying the kinematics formulation and posture correction algorithm, we verify the mobility and level shifting capability of the platform both in lab setting and drain environment.

【 授权许可】

Unknown