Lifting Mechanism for Payload Transport by Collaborative Mobile Robots

Transcription

1 Lifting Mechanism for Payload Transport by Collaborative Mobile Robots : PhD student Youcef MEZOUAR Jean-Christophe FAUROUX Lounis ADOUANE Institut Pascal/UBP/CNRS, Clermont Ferrand France. Ioan DOROFTEI Gh. Asachi Technical University of Iasi, Romania 1

2 Outline State of the art - Mobile robots - Collaborative systems - Lifting mechanisms 3. - Thesis goal - Co-manipulation method - Structural analysis - Dimensional synthesis - Predimensioning lifting capacity - 3D CAD and realized Prototype 4. 2

3 Definition A mobile robot is a manipulating mechanism mounted on a movable platform that transports it to the area where it carries out tasks. A mobile robot is characterized by: Mobility within the environment Perception ability: sensing and reacting in the environment A certain level of autonomy: limited human interaction This need of mobility results for many reasons Extend the workspace Better flexibility in achieving several tasks Autonomous (goal of artificial intelligence) 3

4 General use Mobile robots are used to achieve different tasks and in diverse applications: Overseeing and surveillance. Agriculture tasks: seeding, weeding. Casualty detection. Repairing in radioactive or hostile environment. Objects transport. Packbot Arnold: Differentially driven wheeled robot Swarm-bots 4

5 goal The goal of project is to design a robot with a simple architecture called m-bot that can cooperate with same entities to build a more complex structure called p-bot. The main function that can be ensured by this system are: Object co-manipulation and transport without human assistance. All terrain evolving and obstacle avoidance or climbing. Structure reconfigurability according to the task, object shape or the load to be manipulated. Co-manipulation Object transport Obstacle climbing 5

6 Structured environment mobile robots Mobile Robots Collaborative systems Automated guided vehicles [1] Structured environment Alice [2]: smallest wheeled robot for R&D applications Khepera [2]: two driven wheels and one support to ensure stability Lifting Mechanisms Robot-cleaner [2]: cleaning applcations Pioneer [2]: robot for R&D [1] B. Sezen, Modeling Automated Guided Vehicle Systems in Material Handling, Universitesi Dergisi, Feb [2] R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots. The MIT Press,

7 All terrain mobile robots Mobile Robots Collaborative systems Lifting Mechanisms Crab [3]: Six wheels, Mechanical structure based on parallelogram bogies Micro 5 [4]: Five wheels mission rover. Pentad Grade Assist Suspension System PEGASUS Nomad [5]: Four driving and steering wheels. [3] A. Krebs, T. Thueer, E. Carrasco, R. Siegwart, "Towards torque control of the CRAB rover", February [4] Kubota T., Kuroda Y., Kunii Y., and Nakatani I., "Small, light-weight rover Micro5" for lunar exploration, Acta Astronautica, [5] D. Wettergreen, M. Bualat, D. Christian, K. Schwehr, H. Thomas, D. Tucker, and E. Zbinden, Operating Nomad during the Atacama Desert Trek

8 Obstacle climbing mobile robots Mobile Robots Collaborative systems Rocky 7 [6]: rocker bogie suspension Six wheels with only two wteering OpenWHEEL [7], two axles with four wheels and an inter-axle Lifting Mechanisms Shrimp [8]: obstacle climbing with a passive frame Hylos [9]: great characteristics with 16 DOF [6] R. Volpe, J. Balaram, T. Ohm, R. Ivlev, and P. Rocky, "Rocky 7: A Next Generation Mars Rover Prototype", [7] J.C. FAUROUX, F. CHAPELLE and B.C. BOUZGARROU " A New Principle for Climbing Wheeled Robots: Serpentine Climbing with the OpenWHEEL Platform, 2006, [8] Roland Siegwart, Pierre Lamon, Thomas Estier, Michel Lauria, Ralph Piguet, 2002,Innovative design for wheeled locomotion in rough terrain Robotics and Autonomous Systems [9] C. G. F Ben Amar, "Performance evaluation of locomotion modes of an hybrid wheel-legged robot for self-adaptation to ground conditions

9 Reconfigurable robots Mobile Robots Collaborative systems Swarm agents [10]: collaborative behaviour of Alice robots Slimebots [12]: Velcro strap for robots connection Telescopic arm for evolving Modular wheeled robots [11]: Comb shaped robots with driven or steering wheels Lifting Mechanisms M-tran : Modular robots with six connection faces es/2007/12/mtran2_robot_is. php Atron : com/tech/shapeshiftingr.php [10] S. Kernbach, Symbiotic robot organisms: REPLICATOR and SYMBRION projects 2008, [11] M. Hofbaur, M. Brandstotter, S. Jantscher, and C. SchÃ{rghuber, Modular re-configurable robot drives 2010,. [12] M. S. Akio Ishiguro,A modular robot that exhibits amoebic locomotion, Robotics and Autonomous Systems, no. 8, pp robot, in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, [13] D. F. M Dorigo, Swarmanoid: a novel concept for the study of heterogeneous robotic swarms, 2012 Swarmanoid [13]: collaborative aspect between hand-bot, foot_bot and fly_bot 9

10 Payload manipulation and transport robots Mobile Robots Collaborative systems S-bots Box pushing collaboration Arnold: Differentially driven wheeled robot Mobile robots using tools Lifting Mechanisms Khepera: cooperative tube pulling from ground ArmyAnt: object lifting on robot s bodies Stanford robotic platform: Two holonomic mobile platforms equipped with PUMA robot arms 10

11 Lifting mechanisms Mobile Robots Collaborative systems A screw and pantograph lifting jack: EP A2 Lifting mechanism for articulated bed: EP A1 Lifting mechanism for a storage bed base: EP A1 Lifting Mechanisms Load Lifting vehicle: WO 2012/ A1 Lifting mechanism with lift stand accomodation: US2013/ A1 Patient lifting device: US2013/ A1 Multidimensional lifting hand track: US2011/ A1

12 Positioning Accoding to the state of the art robotic system do not ensure comanipulation,transport and all terrain evolving at the same time. Make an innovative system with simple architecture Ensure the manipulation, transport and (obstacles climbing) Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype 12

13 Co-manipulation method 13

14 Structural analysis Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype 14

15 Structural analysis Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype 15

16 Dimensional synthesis 16

17 Predimensioning lifting capacity 17

18 3D CAD Co-manipulation Method Structural Analysis Dimentional Synthesis First prototype design Mono-robot with retracted manipulator Predimensioning Lifting capacity 3D CAD Realized Prototype Four robots are manipulating a cubic object Mono-robot in configuration for prehension 18

19 Dynamic Simulation 19

20 Realized prototype Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Antagonist configuration of two mono-robots The mono-robots started object prehension to lift the object Realized Prototype The robots put the object on top and will start the transport 20

21 and future works State of the art to the existing mobile robots Comparison and positioning Inspiration for an innovative mobile robotic for object comanipulation and transport in all terrain 3D design of the first version Realization of the first version of the project Future work consists on : Design of V2 for object transport on irregular grounds with obstacle climbing, with robots at a higher scale (30cm) 21

22 THANK YOU 22