Wheeled Mobile Robots
|
|
- Marshall Jackson
- 5 years ago
- Views:
Transcription
1 Wheeled Mobile Robots Most popular locomotion mechanism Highly efficient on hard and flat ground. Simple mechanical implementation Balancing is not usually a problem. Three wheels are sufficient to guarantee stability. If the number of wheels are more than three, a suspension system is needed to allow all wheels to maintain ground contact on uneven terrain. The focus of research in wheeled robotics is on traction and stability in rough terrain, maneuverability and control.
2 The Four Basic Wheels types a) Standard Wheel: Two degrees of freedom; rotation around the motorized wheel axis and the contact point. b) Castor Wheel: two degrees of freedom, rotation around the wheel axle and the offset steering joint.
3 The Four Basic Wheels Types c) Swedish (Omni) Wheel: Three degrees of freedom; rotation around the motorized wheel axis, around the rollers, and around the contact point. 45 degrees or 90 degrees types. d) Ball or Spherical wheel: Like the mouse ball. 3 DOF. Suspension is technically not solved.
4 Standard and Castor Wheels The main advantages : the easy implementation the high load capacity the high tolerance to ground irregularities. The main disadvantage : to make a vehicle using these wheels steerable, must be steered first along a vertical axis and then moved around a horizontal axis. So especially in case of heavy vehicles and when it is not moving during steering this steering method cause s high friction during steering as the wheel is actively twisted around its vertical axis, this increases the power consumption and reduces the positioning accuracy of the vehicle.
5 Swedish and Ball Wheel The Swedish wheel functions as a normal wheel, but it has little passive rollers around the circumference. These rollers provide low resistance in another direction. The wheels primary axis serves as the only actively powered joint. The spherical wheel is a real omnidirectional wheel. There are several implementations of spherical wheels.
6 How Ball Wheel is Actuated In the ball wheel design power from a motor is transmitted through gears to an active roller ring and then to the ball via friction between the rollers and the ball. Due to the rollers, fixed at the roller ring and the chassis, the ball is able to roll passively in any direction. A robot needs at least three spherical wheels to become mobile.
7 Stability A robot with a two wheeled differential drive can achieve stability if the center of mass is below the wheel axle or if there is a third point of contact striking the floor. Under normal circumstances a wheeled robot needs at least three wheels with ground contact to achieve static stability. The center of gravity has to be completely within the support polygon, formed by the three wheels with ground contact.
8 Maneuverability Maneuverability is a very important issue for a wheeled robot to solve its tasks. When a robot is able to move in any direction of the ground plane (x,y) it is omnidirectional. This level of movement requires usually actively powered wheels that can move in more than one direction like Swedish or spherical wheels. In contrast the Ackermann steering configuration, which is used by cars, is not omnidirectional. Vehicles using this configuration have usually turning radius which are larger than the vehicle itself It is not able to move sideways (that means in axis direction), such a movement requires several parking maneuvers consisting of repeated changes in wheel direction and forward and backward movement.
9 Controllability Driving a robot which uses four powered Swedish wheels straight forward, all wheels must be driven with exactly the same speed, to move in a perfectly straight line. Even little errors in the speed of the wheels will cause mistakes in the desired travel path of the robot. At this point the benefit of Ackermann steering appears, because controlling such vehicles is much easier. Driving straight forward means just locking the steerable wheels and driving the motorized wheels. These are connected by an axis, so the speed of the drive wheels is always the same by actuating just one motor. In general, controllability is inversely correlated with maneuverability.
10 Holonomic vs. non holonomic A robot is holonomic if the controllable degrees of freedom are equal to the total degrees of freedom. If the robot is able to move in an arbitrary direction out of any position at any time it is called holonomic. Consider a two-dimensional space; the degrees of freedom are the x axis, y axis, and rotation about the origin. In this space, a mobile base with three omnidirectional wheels in a triangular configuration would be considered holonomic. Consider a one-dimensional space; there is only one degree of freedom: the x axis. An example of this system is Rail transport, and in such a system the trains would be considered holonomic.
11 Odometry Odometry is the use of data from motion sensors to estimate change in position over time. Odometry is used by mobile robots, to estimate (not determine) their position relative to a starting location. In case of incremental encoder; sensitive to errors due to the integration of velocity measurements over time to give position estimates. Rapid and accurate data collection, equipment calibration, and processing are required in most cases for odometry to be used effectively. Robot can measure how far the wheels have rotated, and if it knows the circumference of its wheels, compute the distance.
12 Visual Odometry In robotics and computer vision, visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. Problems with rotary encoders: Cannot be used with legged robot. Precision problems, since wheels tend to slip and slide on the floor creating a non-uniform distance traveled as compared to the wheel rotations. Odometry readings become increasingly unreliable over time as these errors accumulate and compound over time. Visual odometry is the process of determining equivalent odometry information using sequential camera images to estimate the distance traveled. Visual odometry allows for enhanced navigational accuracy in robots or vehicles using any type of locomotion on any surface.
13 Wheeled Mobile Robots Stability of a vehicle is be guaranteed with 3 wheel center of gravity is within the triangle with is formed by the ground contact point of the wheels. Stability is improved by 4 and more wheels Bigger wheels allow to overcome higher obstacles but they require higher torque or reductions in the gear box. Most arrangements are non-holonomic require high control effort Combining actuation and steering on one wheel makes the design complex and adds additional errors for odometry.
14 Wheels Configuration Synchro Drive This mechanism consists of three steerable wheels arranged in a triangle. All wheels are driven and connected by a single belt which is actuated by one motor. Second belt, which is actuated by an additional motor and is connected to the wheels too, is used to spin each wheel around its individual vertical axis. In this way the robot can be driven and steered relatively simple by controlling just two motors.
15 Synchro Drive - Drawbacks The Robot is not omnidirectional; all wheels are steered with respect to the robots chassis together, so there is no way to re-orientate the chassis directly. Dead reckoning, the wheel which is closest to the motor begins spinning before the furthest wheel, this causes little changes in the orientation of the chassis, which accumulates to a large error in orientation when there are several changes in motor speed.
16 Tribolo Each ball wheel is driven by one To rotate the robot around its vertical axis all motors are driven with the same speed. To drive the robot straight forward one motor has to be turned off and two motors have to be driven, one with velocity v and the other with velocity v. The advantages of this design are the simple design and excellent maneuverability, but it is limited to flat surface and it is just capable to carry small loads.
17 Kovan robot Uses three actively powered Swedish 90 wheels. The robot is able to rotate in place by driving all wheels with the same velocity. To make a linear movement in direction v1 the first motor must move with velocity v, the third motor with velocity v and the second motor must be stopped, so that the second wheel will roll freely on the little rollers perpendicular to its powered axis of motion.
18 Carnegie Mellon Uranus robot This robot uses four actively powered 45 Swedish wheels. To move the robot straight forward or backward all wheels must spin with the same velocity in the same direction. The robot is also able to do a lateral movement. To do this the diagonal pair of wheels must spin with the same velocity in the same direction (v) and the other diagonal pair of wheels must spin with same velocity in the opposite direction(-v). Furthermore the robot is able to rotate in place. To rotate clockwise the wheels on the left side must spin with velocity v and the wheels on the right side with velocity v
19 Tracked Robot A tracked vehicle is steered by moving the tracks with different speed in the same direction or in opposite direction. The use of tracks offers a much larger area of ground contact, so the vehicles traction on loose surface is enhanced. Due to the large contact patches, tracked vehicles usually change their direction by skidding, where a large part of the vehicle slides against the ground, so: the vehicle needs a lot of space to change the orientation of the chassis. When the surface is hard, more friction during steering and with thus more power consumption of the vehicle.
20 Walking Wheels A hybrid solution which combines the advantages of legged and wheeled locomotion. Shrimp has six motorized wheels and is capable to climb barriers that are two times larger than its wheel diameter. it is able to overcome obstacles passively, that means that the robot has no sensors to detect an obstacle, the robot s mechanical structure is able to adapt the profile of the terrain.
Introduction to Robotics
Introduction to Robotics Ph.D. Antonio Marin-Hernandez Artificial Intelligence Research Center Universidad Veracruzana Sebastian Camacho # 5 Xalapa, Veracruz Robotics Action and Perception LAAS-CNRS 7,
More informationControl of Mobile Robots
Control of Mobile Robots Introduction Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Applications of mobile autonomous robots
More informationWeek 11. Module 5: EE100 Course Project Making your first robot
Week 11 Module 5: EE100 Course Project Making your first robot Dr. Ing. Ahmad Kamal Nasir Office Hours: Room 9-245A Tuesday (1000-1100) Wednesday (1500-1600) Course Project: Wall-Follower Robot Week 1
More informationLast week we saw. Today: The Role of Locomotion : Robotics systems and science Lecture 4: Locomotion
6.141: Robotics systems and science Lecture 4: Locomotion Lecture Notes Prepared by Daniela Rus EECS/MIT Spring 2009 Last week we saw Bang-bang control Open loop control Closed loop control: P, I, D Motors
More informationCORC Exploring Robotics. Unit B: Construction
CORC 3303 Exploring Robotics Unit B: Construction Effectors and Actuators An effector is a device on a robot that has an impact or influence on the environment. An actuator is the mechanism that enables
More informationHow to Build with the Mindstorm Kit
How to Build with the Mindstorm Kit There are many resources available Constructopedias Example Robots YouTube Etc. The best way to learn, is to do Remember rule #1: don't be afraid to fail New Rule: don't
More informationSuspension systems and components
Suspension systems and components 2of 42 Objectives To provide good ride and handling performance vertical compliance providing chassis isolation ensuring that the wheels follow the road profile very little
More informationWheeled Locomotion. Geared Drive Vs. Direct Drive. Driving DC motors. Stepper motors. Open-loop and Closed-loop Control
Wheeled Locomotion Geared Drive Vs. Direct Drive Driving DC motors Stepper motors Open-loop and Closed-loop Control Feedback for Close-Loop Systems Drive Configurations 1 Geared Drive Usually a DC motor
More informationThe Design of an Omnidirectional All-Terrain Rover Chassis
The Design of an Omnidirectional All-Terrain Rover Chassis Abstract Submission for TePRA 2011: the 3rd Annual IEEE International Conference on Technologies for Practical Robot Applications Timothy C. Lexen,
More informationDEVELOPMENT OF A CONTROL MODEL FOR A FOUR WHEEL MECANUM VEHICLE. M. de Villiers 1, Prof. G. Bright 2
de Villiers Page 1 of 10 DEVELOPMENT OF A CONTROL MODEL FOR A FOUR WHEEL MECANUM VEHICLE M. de Villiers 1, Prof. G. Bright 2 1 Council for Scientific and Industrial Research Pretoria, South Africa e-mail1:
More informationREU: Improving Straight Line Travel in a Miniature Wheeled Robot
THE INSTITUTE FOR SYSTEMS RESEARCH ISR TECHNICAL REPORT 2013-12 REU: Improving Straight Line Travel in a Miniature Wheeled Robot Katie Gessler, Andrew Sabelhaus, Sarah Bergbreiter ISR develops, applies
More informationIntroducing Galil's New H-Bot Firmware
March-16 Introducing Galil's New H-Bot Firmware There are many applications that require movement in planar space, or movement along two perpendicular axes. This two dimensional system can be fitted with
More informationWe are IntechOpen, the first native scientific publisher of Open Access books. International authors and editors. Our authors are among the TOP 1%
We are IntechOpen, the first native scientific publisher of Open Access books 3,350 108,000 1.7 M Open access books available International authors and editors Downloads Our authors are among the 151 Countries
More informationMobile Robots Introduction and Lecture Overview
ASL Autonomous Systems Lab Mobile Robots Introduction and Lecture Overview Autonomous Mobile Robots Roland Siegwart Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza Autonomous
More informationLinear Shaft Motors in Parallel Applications
Linear Shaft Motors in Parallel Applications Nippon Pulse s Linear Shaft Motor (LSM) has been successfully used in parallel motor applications. Parallel applications are ones in which there are two or
More informationMECH S Homework Concept Synthesis Due 12 Feb 14
MECH 3200 14S Homework Concept Synthesis Due 12 Feb 14 Veterinary Prosthetics Consider a canine front double amputee (i.e., hind legs intact, but fore legs gone humerus removed from the scapula). The owners
More informationChassis Concepts for the ExoMars Rover
In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 Chassis Concepts for the ExoMars Rover
More informationDifferent types of gears. Spur gears. Idler gears. Worm gears. Bevel gears. Belts & Pulleys
GEARS Robot Gears By using different gear diameters, you can exchange between rotational (or translation) velocity and torque. by looking at the motor datasheet you can determine the output velocity and
More informationKINEMATICS OF MACHINARY UBMC302 QUESTION BANK UNIT-I BASICS OF MECHANISMS PART-A
KINEMATICS OF MACHINARY UBMC302 QUESTION BANK UNIT-I BASICS OF MECHANISMS PART-A 1. Define the term Kinematic link. 2. Classify kinematic links. 3. What is Mechanism? 4. Define the terms Kinematic pair.
More informationSuperQuest Salem Drive Train Best Practices
SuperQuest Salem Drive Train Best Practices Drive Trains Design Hints Compare different designs Look at examples from Worlds Tips for Drive Systems Always support drive shafts on two points (gears, sprockets,
More informationDesign of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot
Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot Rafiuddin Syam, Wahyu H. Piarah Mechanical Engineering Department Engineering Faculty, Hasanuddin University Jl. P. Kemerdekaan Km 10
More informationDeriving Consistency from LEGOs
Deriving Consistency from LEGOs What we have learned in 6 years of FLL by Austin and Travis Schuh Objectives Basic Building Techniques How to Build Arms and Drive Trains Using Sensors How to Choose a Programming
More informationSimulating the dynamical behavior of an AGV
Simulating the dynamical behavior of an AGV Citation for published version (APA): Legius, M. J. E., Nijmeijer, H., & Rodriguez Angeles, A. (2014). Simulating the dynamical behavior of an AGV. (D&C; Vol.
More informationEMC-HD. C 01_2 Subheadline_15pt/7.2mm
C Electromechanical 01_1 Headline_36pt/14.4mm Cylinder EMC-HD C 01_2 Subheadline_15pt/7.2mm 2 Elektromechanischer Zylinder EMC-HD Short product name Example: EMC 085 HD 1 System = ElectroMechanical Cylinder
More informationTorque steer effects resulting from tyre aligning torque Effect of kinematics and elastokinematics
P refa c e Tyres of suspension and drive 1.1 General characteristics of wheel suspensions 1.2 Independent wheel suspensions- general 1.2.1 Requirements 1.2.2 Double wishbone suspensions 1.2.3 McPherson
More informationFigure 1: Forces Are Equal When Both Their Magnitudes and Directions Are the Same
Moving and Maneuvering 1 Cornerstone Electronics Technology and Robotics III (Notes primarily from Underwater Robotics Science Design and Fabrication, an excellent book for the design, fabrication, and
More informationEnhancing Wheelchair Mobility Through Dynamics Mimicking
Proceedings of the 3 rd International Conference Mechanical engineering and Mechatronics Prague, Czech Republic, August 14-15, 2014 Paper No. 65 Enhancing Wheelchair Mobility Through Dynamics Mimicking
More informationNEW DESIGN AND DEVELELOPMENT OF ESKIG MOTORCYCLE
NEW DESIGN AND DEVELELOPMENT OF ESKIG MOTORCYCLE Eskinder Girma PG Student Department of Automobile Engineering, M.I.T Campus, Anna University, Chennai-44, India. Email: eskindergrm@gmail.com Mobile no:7299391869
More informationIII B.Tech I Semester Supplementary Examinations, May/June
Set No. 1 III B.Tech I Semester Supplementary Examinations, May/June - 2015 1 a) Derive the expression for Gyroscopic Couple? b) A disc with radius of gyration of 60mm and a mass of 4kg is mounted centrally
More informationBASIC BUILDING TIPS. Building Tips TABLE OF CONTENTS. Forward 3 plates, beams, Connectors, 5 Bracing and Interlocking 6
BASIC BUILDING TIPS last updated: June 25 th, 2015 TABLE OF CONTENTS Forward 3 plates, beams, Connectors, 5 Bracing and Interlocking 6 Basics on Gears 8 Types of gears 8 Gears Spacing 9 Simple Gear Ratio
More informationChanges in direction.! Using pulleys with belts
Mechanisms Changes in direction! Using pulleys with belts Changes in direction! Using friction wheels Changes in direction! Using gears Worm drive! Reduces the speed! It is non-reversible Worm drive! Multiple
More informationThe OmniMate Mobile Robot Design, Implementation, and Experimental Results
Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, Apr. 21-27, 1997, pp. 3505-3510. 1) 2) The OmniMate Mobile Robot Design, Implementation, and Experimental Results
More informationmotion table of contents: squarebot assembly 3.2 concepts to understand 3.3 subsystems interfaces 3.21 motion subsystem inventory 3.
The subsystem of the robot is responsible for exactly that,. It includes both the motors that generate, and the wheels and gears that transfer and transform that into the desired forms. With the structural
More informationHow New Angular Positioning Sensor Technology Opens A Broad Range of New Applications. WhitePaper
How New Angular Positioning Sensor Technology Opens A Broad Range of New Applications WhitePaper How New Angular Positioning Sensor Technology Opens A Broad Range of New Applications A new generation of
More informationNon-Contact Sensor Performance Report
Non-Contact Sensor Performance Report Abstract The 30mm non-contact sensor (Encoder) was subjected to a variety of tests outside of the recommended usage parameters. The separation distance, planar tilt,
More informationPRODUCTS OVERVIEW. Linear Motion in its Simplest Form
Linear Motion in its Simplest Form Simplicity of Design - IntelLiDrives TM produce direct linear motion, eliminating stretching belts, slipping pulleys, hysteresis and wear of the leadscrews. Cost Effective
More informationRobot components: Actuators
Robotics 1 Robot components: Actuators Prof. Alessandro De Luca Robotics 1 1 Robot as a system program of tasks commands Robot actions working environment mechanical units supervision units sensor units
More informationWheeled Robotic Mobility. Dimi Apostolopoulos
Wheeled Robotic Mobility Dimi Apostolopoulos Significance of Mobility Move Position Transport Employ instruments and tools React to work loads in a controllable fashion ROBOTIC MOBILITY Dimi Apostolopoulos
More informationMODELING SUSPENSION DAMPER MODULES USING LS-DYNA
MODELING SUSPENSION DAMPER MODULES USING LS-DYNA Jason J. Tao Delphi Automotive Systems Energy & Chassis Systems Division 435 Cincinnati Street Dayton, OH 4548 Telephone: (937) 455-6298 E-mail: Jason.J.Tao@Delphiauto.com
More informationDrive Essentials. robot. -Andy Baker
Drive Essentials The best drive train is more important than anything else on the robot meets your strategy goals can be built with your resources rarely needs maintenance can be fixed within 4 minutes
More informationReview of Various Steering Systems for Unmanned Ground Vehicle
Review of Various Steering Systems for Unmanned Ground Vehicle Pratik Sharma 1, Nikita Sashte 2, Suraj Phadke³ U.G. Student, Department of Mechanical Engineering, Anantrao Pawar Engineering College, Parvati,
More informationF.I.R.S.T. Robotic Drive Base
F.I.R.S.T. Robotic Drive Base Design Team Shane Lentini, Jose Orozco, Henry Sick, Rich Phelan Design Advisor Prof. Sinan Muftu Abstract F.I.R.S.T. is an organization dedicated to inspiring and teaching
More informationTechnical Robustness and Quality
Technical Robustness and Quality www.teamrush27.net Rock Solid Robot Page Title 1-4 Robustness In Concept And Fabrication 5 Creative Concepts For Tomorrow s Technology 6-8 Rock Solid Controls 9-10 Effectively
More informationAll levers are one of three types, usually called classes. The class of a lever depends on the relative position of the load, effort and fulcrum:
Página 66 de 232 Mechanisms A mechanism is simply a device which takes an input motion and force, and outputs a different motion and force. The point of a mechanism is to make the job easier to do. The
More informationArms, Legs, Wheels, Tracks and What Really Drives Them: Effectors and Actuators. By: J. Islam & Tiffany Stephenson
Arms, Legs, Wheels, Tracks and What Really Drives Them: Effectors and Actuators By: J. Islam & Tiffany Stephenson Components That Enable A Robots Actions Effector: Device that makes impact/influence on
More informationLEGO Parts Guide. Naming and Building with LEGO parts. Version 1.3 4/12/10
LEGO Parts Guide Naming and Building with LEGO parts Version 1.3 4/12/10 Table of Contents Connectors... 4 Friction Pegs... 4 Frictionless Pegs... 5 Ball Joints / Tie Rods... 6 Bushings... 7 Angle Connectors...
More informationSPMM OUTLINE SPECIFICATION - SP20016 issue 2 WHAT IS THE SPMM 5000?
SPMM 5000 OUTLINE SPECIFICATION - SP20016 issue 2 WHAT IS THE SPMM 5000? The Suspension Parameter Measuring Machine (SPMM) is designed to measure the quasi-static suspension characteristics that are important
More informationTheory of Machines. CH-1: Fundamentals and type of Mechanisms
CH-1: Fundamentals and type of Mechanisms 1. Define kinematic link and kinematic chain. 2. Enlist the types of constrained motion. Draw a label sketch of any one. 3. Define (1) Mechanism (2) Inversion
More informationSPMM OUTLINE SPECIFICATION - SP20016 issue 2 WHAT IS THE SPMM 5000?
SPMM 5000 OUTLINE SPECIFICATION - SP20016 issue 2 WHAT IS THE SPMM 5000? The Suspension Parameter Measuring Machine (SPMM) is designed to measure the quasi-static suspension characteristics that are important
More informationVT-80 Linear Stage. Related and Compatible Products. Basic Version for Universal Use
VT-80 Linear Stage Basic Version for Universal Use Travel ranges from 25 to 300 mm (1 to 12") Low profile Max. velocity to 20 mm/s Load capacity to 5 kg Standard-class linear stage Recirculating ball bearings
More informationQuickStick Repeatability Analysis
QuickStick Repeatability Analysis Purpose This application note presents the variables that can affect the repeatability of positioning using a QuickStick system. Introduction Repeatability and accuracy
More informationTECHNOLOGY MECHANISMS
TECHNOLOGY MECHANISMS 3º ESO IES CHAN DO MONTE URTAZA 1 WHAT IS A MECHANISM? Mechanism are devices that have been designed to make jobs easier. They all have certain things in common: They involve some
More informationMARITIME AFTERNOON. Torben Ole Andersen. June 14, 2017 Aalborg University, Denmark
MARITIME AFTERNOON HYDRAULICS Torben Ole Andersen June 14, 2017 Aalborg University, Denmark Agenda Marine Propellers Digital Hydraulics in a Hydraulic Winch Secondary Control in of Multi -Chamber Cylinders
More informationSuperQuest Salem Arms Best Practices
SuperQuest Salem Arms Best Practices VEX Arm Designs Single 4-Bar 6-Bar 8-Bar Linear Slide Scissor Double Reverse 4-Bar Single Arms Arms These manipulators consist of a pivot point and at least 1 motor.
More informationIdentifying the Motorized RGS part number codes when ordering
RGS04 Motorized with 28000 Series Size11 DS RGS04 Linear Rail for Hybird 28000 Series Size 11 Double Stacks and RGS04 for 43000 Series Size 17 Single and Double Stacks (See Page 4) RGS04 Linear Rail with
More informationPlanetary Roller Type Traction Drive Unit for Printing Machine
TECHNICAL REPORT Planetary Roller Type Traction Drive Unit for Printing Machine A. KAWANO This paper describes the issues including the rotation unevenness, transmission torque and service life which should
More informationConfig file is loaded in controller; parameters are shown in tuning tab of SMAC control center
Measuring Forces Force and Current limits on LCC The configuration file contains settings that limit the current and determine how the current values are represented. The most important setting (which
More information10/29/2013. Chapter 9. Mechanisms with Lower Pairs. Dr. Mohammad Abuhiba, PE
Chapter 9 Mechanisms with Lower Pairs 1 2 9.1. Introduction When the two elements of a pair have a surface contact and a relative motion takes place, the surface of one element slides over the surface
More informationB.TECH III Year I Semester (R09) Regular & Supplementary Examinations November 2012 DYNAMICS OF MACHINERY
1 B.TECH III Year I Semester (R09) Regular & Supplementary Examinations November 2012 DYNAMICS OF MACHINERY (Mechanical Engineering) Time: 3 hours Max. Marks: 70 Answer any FIVE questions All questions
More informationFEASIBILITY STYDY OF CHAIN DRIVE IN WATER HYDRAULIC ROTARY JOINT
FEASIBILITY STYDY OF CHAIN DRIVE IN WATER HYDRAULIC ROTARY JOINT Antti MAKELA, Jouni MATTILA, Mikko SIUKO, Matti VILENIUS Institute of Hydraulics and Automation, Tampere University of Technology P.O.Box
More informationDesign of an omnidirectional universal mobile platform
Design of an omnidirectional universal mobile platform R.P.A. van Haendel DCT 2005.117 DCT traineeship report Supervisors: prof. M. Ang. Jr, National University of Singapore Prof. Dr. Ir. M. Steinbuch,
More informationManipulators. Basic/Background Info Types of Manipulators General Manipulator design tips
FTC Manipulators By: Zach Zakfeld (Enigma Robotics) Teams: FTC 5391, FTC 5385 and FRC 2075 *Some images in this presentation are of FRC robots so exact designs may not be applicable, however all of the
More informationDevelopment of a Multibody Systems Model for Investigation of the Effects of Hybrid Electric Vehicle Powertrains on Vehicle Dynamics.
Development of a Multibody Systems Model for Investigation of the Effects of Hybrid Electric Vehicle Powertrains on Vehicle Dynamics. http://dx.doi.org/10.3991/ijoe.v11i6.5033 Matthew Bastin* and R Peter
More informationwww.motiontech.com.au Copyright SERVOMECH This catalogue contents are under publisher copyright and may not be reproduced unless permission is agreed. Every care has been taken to ensure the accuracy of
More informationControls DEA 3250/6510. Controls are a frequent source of system error and failure.
Controls Controls DEA 3250/6510 Controls are a frequent source of system error and failure. Controls - Simplicity in Design Complex controls invariably can be simplified by ergonomic analysis. Controls
More informationMETHOD FOR TESTING STEERABILITY AND STABILITY OF MILITARY VEHICLES MOTION USING SR60E STEERING ROBOT
Journal of KONES Powertrain and Transport, Vol. 18, No. 1 11 METHOD FOR TESTING STEERABILITY AND STABILITY OF MILITARY VEHICLES MOTION USING SR6E STEERING ROBOT Wodzimierz Kupicz, Stanisaw Niziski Military
More informationSOME FACTORS THAT INFLUENCE THE PERFORMANCE OF
SOME FACTORS THAT INFLUENCE THE PERFORMANCE OF Authored By: Robert Pulford Jr. and Engineering Team Members Haydon Kerk Motion Solutions There are various parameters to consider when selecting a Rotary
More informationEurathlon Scenario Application Paper (SAP) Review Sheet
Scenario Application Paper (SAP) Review Sheet Team/Robot Scenario FKIE Autonomous Navigation For each of the following aspects, especially concerning the team s approach to scenariospecific challenges,
More informationME6401 KINEMATICS OF MACHINERY UNIT- I (Basics of Mechanism)
ME6401 KINEMATICS OF MACHINERY UNIT- I (Basics of Mechanism) 1) Define resistant body. 2) Define Link or Element 3) Differentiate Machine and Structure 4) Define Kinematic Pair. 5) Define Kinematic Chain.
More informationThe distinguishing features of the ServoRam and its performance advantages
ADVANCED MOTION TECHNOLOGIES INC 1 The distinguishing features of the ServoRam and its performance advantages What is a Linear Motor? There are many suppliers of electrical machines that produce a linear
More informationTYPICAL EXPERIMENTS Centers of gravity. Force triangle. Force polygon and Bow s Notation. Non- concurrent forces.
MM 500-001 BASIC PANEL The panel is made from a perforated stainless steel sheet mounted on two supports with adjustable footings. The panel can be tilted, put in portrait or landscape position. Accessories
More informationFRICTION DEVICES: DYNAMOMETER. Presented by: RONAK D. SONI Assistant Professor Parul Institute of Technology, Parul University
FRICTION DEVICES: DYNAMOMETER Presented by: RONAK D. SONI Assistant Professor Parul Institute of Technology, Parul University DYNAMOMETER A dynamometer is a brake but in addition it has a device to measure
More informationDriver Driven. InputSpeed. Gears
Gears Gears are toothed wheels designed to transmit rotary motion and power from one part of a mechanism to another. They are fitted to shafts with special devices called keys (or splines) that ensure
More informationConfig file is loaded in controller; parameters are shown in tuning tab of SMAC control center
Forces using LCC Force and Current limits on LCC The configuration file contains settings that limit the current and determine how the current values are represented. The most important setting (which
More informationDESIGN, SIMULATION AND TESTING OF SHRIMP ROVER USING RECURDYN
Ready 12th Symposium on Advance Space Technologies in Robotics and Automation, ESA / ESTEC, Noordwijk, The Nethelands DESIGN, SIMULATION AND TESTING OF SHRIMP ROVER USING RECURDYN Shivesh Kumar, Raghavendra
More informationMECHANICAL CONDITION MONITORING ON ROTARY KILNS. Measurement Tools for the Cement Industry
MECHANICAL CONDITION MONITORING ON ROTARY KILNS Measurement Tools for the Cement Industry Agenda About TomTom-Tools GmbH New Kiln Axis Alignment System Tablet PC with Long Range Bluetooth Ovality Sensor
More informationDesign and Analysis of suspension system components
Design and Analysis of suspension system components Manohar Gade 1, Rayees Shaikh 2, Deepak Bijamwar 3, Shubham Jambale 4, Vikram Kulkarni 5 1 Student, Department of Mechanical Engineering, D Y Patil college
More informationFeatures of the LM Guide
Features of the Functions Required for Linear Guide Surface Large permissible load Highly rigid in all directions High positioning repeatability Running accuracy can be obtained easily High accuracy can
More informationModule 4: Actuators. CDX Diesel Hydraulics. Terms and Definitions. Cylinder Actuators
Terms and Definitions Cylinder Actuators Symbols for Actuators Terms and Definitions II Cylinders Providing Linear Motion Cylinders Providing Angular Motion Parts of Actuators Mounting of Actuators Seals
More informationRodless Pneumatic Cylinders Series OSP-P
Rodless Pneumatic Cylinders Series OSP-P System Concepts & Components... 2-5 Technical Data... 7-9 Dimensions... 10-15 Active rakes... 16-19 Accessories (Mounts & Supports)... 20-29 Ordering Information...30
More informationMoments. It doesn t fall because of the presence of a counter balance weight on the right-hand side. The boom is therefore balanced.
Moments The crane in the image below looks unstable, as though it should topple over. There appears to be too much of the boom on the left-hand side of the tower. It doesn t fall because of the presence
More informationRED RAVEN, THE LINKED-BOGIE PROTOTYPE. Ara Mekhtarian, Joseph Horvath, C.T. Lin. Department of Mechanical Engineering,
RED RAVEN, THE LINKED-BOGIE PROTOTYPE Ara Mekhtarian, Joseph Horvath, C.T. Lin Department of Mechanical Engineering, California State University, Northridge California, USA Abstract RedRAVEN is a pioneered
More information2. a) What is pantograph? What are its uses? b) Prove that the peaucellier mechanism generates a straight-line motion. (5M+10M)
Code No: R22032 R10 SET - 1 1. a) Define the following terms? i) Link ii) Kinematic pair iii) Degrees of freedom b) What are the inversions of double slider crank chain? Describe any two with neat sketches.
More informationBalancing of Reciprocating Parts
Balancing of Reciprocating Parts We had these forces: Primary and Secondary Unbalanced Forces of Reciprocating Masses m = Mass of the reciprocating parts, l = Length of the connecting rod PC, r = Radius
More informationPrecision Modules PSK
Precision Modules PSK The Drive & Control Company Rexroth Linear Motion Technology Ball Rail Systems Roller Rail Systems Standard Ball Rail Systems Super Ball Rail Systems Ball Rail Systems with Aluminum
More informationNovel Chassis Concept for Omnidirectional Driving Maneuvers
Novel Chassis Concept for Omnidirectional Driving Maneuvers Challenges in modelling suspensions with wheel individual steering system KIT The Research University in the Helmholtz Association www.kit.edu
More informationA Three Revolute Cobot Using CVTs in Parallel
A hree Revolute Cobot Using CVs in Parallel Carl A. Moore Michael A. Peshkin J. Edward Colgate Department of Mechanical Engineering Northwestern University Evanston, IL 60208-3111 ABSRAC Cobots are capable
More information8. Other system and brake theories
8. Other system and brake theories Objective To understand the limiting valve, proportioning valve, load sensing proportioning valve and brake theories, which were used immediately before the development
More informationLectures on mechanics
Lectures on mechanics (lesson #3) francesco.becchi@telerobot.it LESSONS TIME TABLE (pls. take note) 28/11 h9/12- mech components 1 (3h) 4/12 h9/12 mech components 2 (3h) 11/12 h9/12 mech technologies (3h)
More informationGearheads H-51. Gearheads for AC Motors H-51
Technical Reference H-51 for AC Since AC motor gearheads are used continuously, primarily for transmitting power, they are designed with priority on ensuring high permissible torque, long life, noise reduction
More informationIncrease performance of all-terrain vehicle by tuning of various components
Increase performance of all-terrain vehicle by tuning of various components Bhavdeep Trivedi Marut Patel Deep Patel Ripen Shah Asst. Professor, Mechanical Department, Silver Oak College of Engg. & Tech.,
More informationRobotic Systems ECE 401RB Fall 2007
The following notes are from: Robotic Systems ECE 401RB Fall 2007 Lecture 4: Actuators Part 1 Chapter 3, George A. Bekey, Autonomous Robots: From Biological Inspiration to Implementation and Control, The
More informationINTRODUCTION Team Composition Electrical System
IGVC2015-WOBBLER DESIGN OF AN AUTONOMOUS GROUND VEHICLE BY THE UNIVERSITY OF WEST FLORIDA UNMANNED SYSTEMS LAB FOR THE 2015 INTELLIGENT GROUND VEHICLE COMPETITION University of West Florida Department
More informationMEE 121 INTRODUCTION TO MECHANICAL ENGINEERING. Prepared by- Md Ferdous Alam, Lecturer, MEE, SUST
MEE 121 INTRODUCTION TO MECHANICAL ENGINEERING Prepared by- Md Ferdous Alam, Lecturer, MEE, SUST Hello Class Radiator Radiator is the application of the heat exchanger which is the part of the engine cooling
More informationHeavy Duty Ball Screw Linear Actuators
Heavy Duty Ball Screw Linear Actuators Thrust From 2,000 to 25,000 lbf Heavy Wall Steel Construction Longest Life Simultaneous High Thrust with High Speed Piston with Rugged Anti Rotation Feature Sealed
More informationTRANSLATION (OR LINEAR)
5) Load Bearing Mechanisms Load bearing mechanisms are the structural backbone of any linear / rotary motion system, and are a critical consideration. This section will introduce most of the more common
More informationParcelBot A Tracked Parcel Transporter with High Obstacle Negotiation Capabilities
Research Collection Conference Paper ParcelBot A Tracked Parcel Transporter with High Obstacle Negotiation Capabilities Author(s): Hoepflinger, Mark H.; Baschung, David; Remy, C. D.; Hutter, Marco; Siegwart,
More informationPermanent Multipath Clamp-On Transit Time Flow Meter
Permanent Multipath Clamp-On Transit Time Flow Meter By: Dr. J. Skripalle HydroVision GmbH, Germany Introduction For many years now, ultrasonic flow measurements with wetted sensors have been a well established
More informationRotary Tables. Z Theta system
Rotary Tables High force Air bearings Roller bearings XY tables Z Theta system Cartesian systems Linear stepping motors and systems Linear brushless motors and systems Linear measurement systems Semiconductor/Electronics
More informationIntroduction. Kinematics and Dynamics of Machines. Involute profile. 7. Gears
Introduction The kinematic function of gears is to transfer rotational motion from one shaft to another Kinematics and Dynamics of Machines 7. Gears Since these shafts may be parallel, perpendicular, or
More information