0
RESEARCH PAPERS

Mechanical Design of a Robotic System for Automatic Installation of Magnetic Markers on the Roadway

[+] Author and Article Information
Randy James

Department of Mechanical & Aeronautical Engineering, University of California, Davis, CA 95616rljames@ucdavis.edu

Basar Ozkan

Department of Mechanical & Aeronautical Engineering, University of California, Davis, CA 95616bozkan@ucdavis.edu

Bahram Ravani

Department of Mechanical & Aeronautical Engineering, University of California, Davis, CA 95616bravani@ucdavis.edu

J. Mech. Des 128(2), 413-421 (May 05, 2005) (9 pages) doi:10.1115/1.2167654 History: Received October 08, 2004; Revised May 05, 2005

Magnetic markers embedded into the roadway pavements are used in Intelligent Transportation Systems to provide the reference signals necessary for guiding and controlling vehicles. This technology has already been implemented in several locations in California to provide driver assistance for snowplow operators in harsh winter environments. Installation of these magnetic markers into the roadway pavement is a tedious manual operation. In this paper, we present a novel design of a robotic system developed for installation of these magnetic markers into the roadway pavement. It is shown how dynamic modeling and simulation can be used with simple experimentation to develop a mechanical design of a robotic system to overcome undesirable effects of vibrations due to drilling the roadway. In addition, two new and innovative concepts are introduced in the design of a robotic system. One is the design of a roller-type traction drive to achieve linear motion that can be used in a gantry robotic system and the second is a self-alignment mechanism for proper insertion of magnetic markers that can be used for any insertion and assembly operations.

Copyright © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 2

Magnetic reference marker installation robot

Grahic Jump Location
Figure 3

Schematic—marker installation trailer

Grahic Jump Location
Figure 4

Prototype marker drilling assembly and vibrational data. (1) Accelerometer; (2) CP-0069 rock drill; (3) accelerometer data—100Hz filter; (4) MATLAB filtered data

Grahic Jump Location
Figure 5

Power spectrum of rock drill signal

Grahic Jump Location
Figure 6

Drill—TVA Model (16)

Grahic Jump Location
Figure 7

Reduced displacement via damping

Grahic Jump Location
Figure 8

Displacement per KN input at drill

Grahic Jump Location
Figure 9

Relative TVA effectiveness

Grahic Jump Location
Figure 10

Actuated drill—TVA Model

Grahic Jump Location
Figure 11

Drill and rodless air cylinder response

Grahic Jump Location
Figure 12

Depth control/drilling (DCD) system

Grahic Jump Location
Figure 13

Upright support structure (exploded)

Grahic Jump Location
Figure 14

Adjustable preload clam jaw slide

Grahic Jump Location
Figure 15

Free body diagram for lower cantilever wheels

Grahic Jump Location
Figure 16

Preload spring and lower wheel moment arm lengths

Grahic Jump Location
Figure 17

Adjustable clam jaw slide test fixture

Grahic Jump Location
Figure 1

Manual installation of magnetic markers

Grahic Jump Location
Figure 21

Integrated DCD and MTI system

Grahic Jump Location
Figure 20

Magnet transfer and insertion (MTI) end effector

Grahic Jump Location
Figure 19

MTI—transfer block

Grahic Jump Location
Figure 18

Magnet transfer and insertion system

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In