Research Papers: Mechanisms and Robotics

Design and Analysis of a Hybrid Mobile Robot Mechanism With Compounded Locomotion and Manipulation Capability

[+] Author and Article Information
Pinhas Ben-Tzvi

Department of Mechanical and Industrial Engineering, University of Toronto, 5 Kings College Road, Toronto, ON, M5S 3G8, Canadapinhas.bentzvi@utoronto.ca

Andrew A. Goldenberg

Department of Mechanical and Industrial Engineering, University of Toronto, 5 Kings College Road, Toronto, ON, M5S 3G8, Canadagolden@mie.utoronto.ca

Jean W. Zu

Department of Mechanical and Industrial Engineering, University of Toronto, 5 Kings College Road, Toronto, ON, M5S 3G8, Canadazu@mie.utoronto.ca

J. Mech. Des 130(7), 072302 (May 20, 2008) (13 pages) doi:10.1115/1.2918920 History: Received July 26, 2007; Revised January 25, 2008; Published May 20, 2008

This paper presents a novel design paradigm as well as the related detailed mechanical design embodiment of a mechanically hybrid mobile robot. The robot is composed of a combination of parallel and serially connected links resulting in a hybrid mechanism that consists of a mobile robot platform for locomotion and a manipulator arm for manipulation. Unlike most other mobile robot designs that have a separate manipulator arm module attached on top of the mobile platform, this design has the ability to simultaneously and interchangeably provide locomotion and manipulation capability. This robot enhanced functionality is complemented by an interchangeable track tension and suspension mechanism that is embedded in some of the mobile robot links to form the locomotion subsystem of the robot. The mechanical design was analyzed with a virtual prototype that was developed with MSC ADAMS software. The simulation was used to study the robot’s enhanced mobility characteristics through animations of different possible tasks that require various locomotion and manipulation capabilities. The design was optimized by defining suitable and optimal operating parameters including weight optimization and proper component selection. Moreover, the simulation enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations. Visualization of the mobile robot on different types of virtual terrains such as flat roads, obstacles, stairs, ditches, and ramps has helped in determining the mobile robot’s performance, and final generation of specifications for manufacturing a full scale prototype.

Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 3

Configuration modes for manipulation

Grahic Jump Location
Figure 4

Configurations for enhanced traction

Grahic Jump Location
Figure 5

Additional possible embodiments of the design concept

Grahic Jump Location
Figure 6

Deployed-link configuration mode of the mobile robot

Grahic Jump Location
Figure 7

Stowed-link configuration mode of the mobile robot (top/bottom covers removed)

Grahic Jump Location
Figure 8

Open configuration mode and general dimensions (front and top views—all covers removed)

Grahic Jump Location
Figure 9

Isometric view of base link track showing internal pulley arrangement

Grahic Jump Location
Figure 10

Side view of base link track showing general pulley arrangement and track tension/suspension mechanism

Grahic Jump Location
Figure 18

Platform COG versus load capacity

Grahic Jump Location
Figure 19

Possible configurations for manipulation

Grahic Jump Location
Figure 1

(a) closed configuration, (b) open configuration, and (c) exploded view

Grahic Jump Location
Figure 2

Configurations of the mobile platform for mobility purposes

Grahic Jump Location
Figure 11

A photo of the physical prototype: (a) stowed-link configuration mode, (b) open configuration mode, and (c) and (d) cylinder climbing configuration

Grahic Jump Location
Figure 12

(a) Control Stick No. 1 (C1) motion layout; (b) Control Stick No. 2 (C2) motion layout

Grahic Jump Location
Figure 13

Animation results: (a) surmounting cylindrical obstacles, (b) stair climbing, (c) stair descending, (d) step climbing with tracks, (e) step climbing with Link 2, (f) step descending, and (g) ditch crossing

Grahic Jump Location
Figure 14

Flipover scenario

Grahic Jump Location
Figure 15

Top ((a)—track tension) and bottom ((b)—suspension) spring array force distribution

Grahic Jump Location
Figure 16

Link 2 motor torque requirement—step obstacle climbing with tracks (via Joint 1)

Grahic Jump Location
Figure 17

Driving pulley motor torque requirement—inclined condition



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