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Technical Briefs

Design and Realization of Multimobile Robot System With Docking Manipulator

[+] Author and Article Information
Wei Wang

School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, Chinawangweilab@buaa.edu.cn

Houxiang Zhang

Department of Informatics, University of Hamburg, Hamburg, 22527, Germanyhzhang@informatik.uni-hamburg.de

Wenpeng Yu

School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, Chinaw_p_yu@163.com

J. Mech. Des 132(11), 114502 (Nov 03, 2010) (8 pages) doi:10.1115/1.4002719 History: Received May 07, 2009; Revised October 04, 2010; Published November 03, 2010; Online November 03, 2010

This paper presents the design and realization of a multimobile robot system joint locomotion (JL)-2, which features not only a docking and 3D posture-adjusting capability between three robots but also a multifunctional docking gripper. By combining a parallel mechanism and a cam gripper together, this paper develops a docking manipulator, which endows each robot with a simple but forceful grasping capability. Furthermore, the docking manipulator can overcome the possible aligning errors between two robots and interconnect them. A motorized spherical joint will be formed between two docked robots, which will enhance the locomotion flexibility of the whole system. The docking mechanism is discussed in detail, including the docking procedure and analyses of self-aligning ability. A series of experiments not only testify the basic performances of JL-2 but also reveal the limits of current prototype, e.g., the overconstraint connecting pattern, the unbalanced self-aligning performance, etc.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Concept of JL-2 system

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Figure 2

Schematic diagrams of docking manipulator and rotation unit

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Figure 3

Mechanical realization of docking manipulator

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Figure 4

Exploration view of parallel mechanism

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Figure 5

Exploration view of docking gripper

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Figure 6

Exploded view of rotation unit

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Figure 7

Exploded view of track unit

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Figure 10

Model of one finger in nipping mode

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Figure 11

Contacting force between finger and object in the nipping mode

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Figure 12

Nipping a block

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Figure 13

Holding a metal shaft

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Figure 14

Holding a table tennis ball

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Figure 15

Docking procedure

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Figure 16

Docking with horizontal orientation error εx

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Figure 17

Docking with horizontal position error dy

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Figure 18

Docking with vertical position error dx

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Figure 19

Docking with vertical orientation error εy

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Figure 20

Docking with combined misalignment errors

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Figure 21

Posture adjustment experiments

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Figure 22

Success rate of docking actions

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Figure 23

Influences of rugged terrains

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