TOSA Robotics and Minidrone department Thales Optronics
LaMI Mechanical Engineering Research Group
UBP
IFMA
Blaise Pascal University Clermont-Ferrand II
French Institute for Advanced Mechanics
Design of a Climbing Robot for CylindroConic Poles based on Rolling Self-Locking
[email protected] [email protected] IFMA Campus de Clermont-Ferrand / Les Cézeaux, B.P. 265 63175 AUBIERE Cedex FRANCE
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
1
Why climbing poles ? Evaluation of crisis conditions Introduction Introduction Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking
• • •
An elevated point of view
• • •
● ●
Experiments Experiments
For sensors, that can see behind urban obstacles For communication devices Unmanned Aerial Vehicles (UAVs) not allowed in town
Chosen support ●
Design Design
Natural catastrophes Chemical contaminations Riots
Poles Lampposts Water evacuation pipes
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
2
Pole specifications Poles considered in this work ●
Introduction Introduction Pole Pole climbing climbing
● ●
Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments
May include obstacles ● ● ● ● ●
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Cylindrical / Conical shape Circular / Polygonal section Not considered in this study: - Concrete poles with H section - Pylons with trestle structure
Tangential panels Traffic lights Wires Phone equipments inside boxes Collars, rings, steel band
3
Pole specifications Study of existing poles [Vienne 07] Introduction Introduction Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Results ● ● ●
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
●
Up to 10m in height Low diameter between 150 and 300 mm Strong conicity Worse friction coefficient: 0.47 on wood
4
Robot specifications
Introduction Introduction
Requested design specifications ●
Compact robot, inside a cube of 500 mm
●
Setup by a single person
●
Payload: 1 kg inside a cube of 100 mm
●
Average vertical speed: 50 mm/s
●
No energy to maintain the robot statical on the pole
●
Possibility to turn around the pole
●
Tangential obstacles should be crossed
Experiments Experiments
●
Cylindrical and conical poles must be addressed
Conclusion Conclusion
●
Diameters from 100 mm to 300 mm
Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
5
Existing pole climbing robots Tree climbing and branch pruning robots ● ●
Introduction Introduction Pole Pole climbing climbing
● ●
Completely circle the trunk Active compression with actuated rollers Many actuators Heavy structure
Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Machine for debarking and trimming either standing or felled tree trunks Emery et al., US 2 477 922, 1946
6
Existing pole climbing robots Tree climbing and branch pruning robots Introduction Introduction Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Machine for trimming branches from standing trees Whitaker, US 2 482 392, 1945
7
Existing pole climbing robots Tree climbing and branch pruning robots Introduction Introduction Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Palmtree pruner Grasham, US 2 581 479, 1948
8
Existing pole climbing robots Pole climbing robots ● ●
Introduction Introduction
●
Not very common in patent databases This one looks like a pruning system Only for cylindrical poles
Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Pole climbing robot Vandal, WO 92/04269, 1992
9
Existing pole climbing robots Pole climbing robots ● ●
Introduction Introduction
●
C shape Active pressure regulation Pneumatic actuation
Pole Pole climbing climbing Pole Pole specs. specs. Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Pole climbing apparatus Plet et al., CA 2192757A1, 1996
10
Existing pole climbing robots Pole climbing robots ● ●
Introduction Introduction Pole Pole climbing climbing
● ● ●
Pole Pole specs. specs.
The closest to our requirements Compression by springs Cannot turn around the pole For cylindrical poles Not based on self-locking
Robot Robotspecs. specs. Climbing Climbing robots robots
Self-locking Self-locking Design Design Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Equipment deployment method and apparatus Spittle et al., US 2003/0188416A1, 2003
11
Self-Locking Definition ●
Phenomenon where locking is obtained only by friction and whatever the intensity of external forces
Examples Introduction Introduction Self-locking Self-locking
● ●
An interesting feature to maintain the robot with no energy Applied on climbing shoes and tree climbing stands
Self-locking Self-locking
Z
Rolling Rollingself-lock. self-lock.
Design Design Experiments Experiments Conclusion Conclusion
Originality ●
●
Seems to be rarely used for CLAWAR Chosen for this reason
o Rob
G
t
Punctual contact P2 Punctual contact P1
Pole
Weight P Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
O
12
Rolling Self-Locking Alternative motion ● ●
Two self-locking frames connected by a contracting mechanism Complex + jerky motion Z
Continuous motion Introduction Introduction
● ●
Self-locking Self-locking
Locating the contact points directly on rollers Simpler + continuous motion
o Rob
Self-locking Self-locking Rolling Rollingself-lock. self-lock.
Conclusion Conclusion
Pole Roller R1
Remarks ●
Actuators:
Weight P
- 2 rollers - 1 roller (the one closest to heavy parts) → R1 ● Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Roller R2
G
Design Design Experiments Experiments
t
O
What is the condition for self-locking ? 13
Rolling Self-Locking Condition Static equilibrium ●
Momentum expressed in C1
Non-slipping condition Introduction Introduction Self-locking Self-locking
●
Expressed in C1 ,
●
Only roller R1 propels, R2 is free
●
With µ the friction coefficient
N 1=N 2 T 1=mg m g a cos=b sin N 2
(1)
T 1≤ N 1
(4)
(2) (3)
d b
Self-locking Self-locking Rolling Rollingself-lock. self-lock.
Design Design Experiments Experiments Conclusion Conclusion
(2) + (4) →
N 1≥m g/
(1) + (3) →
amg N 1= b tan
(5) + (6) →
b tan a≥
with =arccos d / b ● Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
a
Self-locking condition
●
N2
T1
C2
(5) (6)
Ro
N1
b ot G
(7)
Roller R1
Roller R2
C1
Pole
Weight mg
(7) does not depend on mass, only on geometry and friction If θ → 0 then N1 → ∞ (but stiffness is not infinite)
z O
y
14
Design for Axial Rotation Second degree of mobility ●
Introduction Introduction Self-locking Self-locking ••Design Design
● ● ●
Axial rotation around the pole for self-orientation at a given altitude Horizontal rolling Roller R1 mounted on a turret Roller R2 replaced by a spherical joint S
Axial Axialrotation rotation Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame Power Powerunit unit Overview Overview
Experiments Experiments
C2
Roller R ot Rob
C1
G
Pole
Spherical joint S
Turret T
Conclusion Conclusion
Weight P Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
15
Design for Tangential Obstacles Crossing tangential obstacles Introduction Introduction
●
Second contact point C2 is split in two points C21 and C22
●
Interference avoided
Self-locking Self-locking
Spherical joint S1
Roller R Turret T
Axial Axialrotation rotation Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame Power Powerunit unit Overview Overview
C21
Robot G
C1
Pole C22
Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Spherical joint S2
Tangential obstacle fixed on the pole
••Design Design
16
Design for Conical Poles Compatibility with conical poles E.g. diameter 300 mm at the base, 100 mm at the top ● Distance b must be continuously adjusted U ● Support triangle C C C 1 21 22 remains approximately equilateral Spring 1 ● If C fixed, C and C22 1 21 W moved by arms MC S and 21 NC22 Fs ●
Introduction Introduction Self-locking Self-locking ••Design Design Axial Axialrotation rotation Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame Power Powerunit unit Overview Overview
●
Maximum diameter
C21
Intermediate diameter
Minimum diameter
C1
Suitable linkage to find
Spring 2ns
C22
Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
17
Adjustment Linkage Linkage properties ●
Introduction Introduction Self-locking Self-locking ••Design Design
● ● ● ●
Axial Axialrotation rotation
●
Tangent Tangentobstacle obstacle
●
Force Forceregulation regulation
●
Frame Frame
●
Power Powerunit unit
C21 and C22 circular motions approximate the equilateral condition The linkage adjusts the diameter and pressure forces Springs simpler than an actuator Even number of springs → traction symmetry on the slider S Connecting rods US and VS Arms UMC21 and VNC22 with folded shape
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Angle
100-200
95°
150-250
110°
200-300
125°
α adjusted with diameter range Non linear relation FC= f(WS)
C21
Spring 1 W
Dimension
Value (mm)
KL
440
SU, SV
240
UM, VN
420
MC21, NC22
177
LM, KN
103
S
Fs Spring 2ns
α
Maximum diameter
U Singularity: UVS aligned FC / WS → structural stiffness
Overview Overview
Experiments Experiments
Diameter range (mm)
Intermediate diameter
Minimum diameter
C1
C22
18
Frame design Aluminum frame ●
Introduction Introduction Self-locking Self-locking ••Design Design
● ●
Welded profiles Square tube edge 20 mm 16 tension springs - Stiffness 274 N/m - Min length 100 mm - Max length 384 mm
Axial Axialrotation rotation Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame Power Powerunit unit Overview Overview
Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
19
Power unit design Power unit properties ●
Introduction Introduction Self-locking Self-locking
● ● ●
••Design Design Axial Axialrotation rotation
● ●
Programable controller with BlueTooth radio control (range 30 m) PWM homemade amplification card based on a H-bridge One Maxon 70W 12V DC electric motor Clutch to chose propulsion / orientation Wormgear / conical gear transmission Batteries
Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame Power Powerunit unit Overview Overview
Experiments Experiments Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
20
Design overview
Introduction Introduction Self-locking Self-locking ••Design Design Axial Axialrotation rotation Tangent Tangentobstacle obstacle
1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16.
Frame Propelling roller with worm gear transmission Orientable turret with crown gearing Spherical joint S1 Mobile arm (MC21) Arm pivot (M) Rear part of the arm (UM) Diagonal reinforcement plate for the arm Clip hole for adjusting a aperture angle of the arms Connecting rod (SU) Tubular slider (S) 11 Tubular sliding rail (WO) Mobile attachment for springs 7 Fixed attachment for springs Electric motor 10 Programmable controller with Bluetooth remote control 17. Power module (power controller card, batteries, ...)
8
9
Z
5
4
2 13
(S) 6 Front 3 X
Y O
12
Force Forceregulation regulation Frame Frame Power Powerunit unit
14
Overview Overview
Experiments Experiments Conclusion Conclusion
Rear
15 16
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
17
1
21
Design overview Specifications ●
Introduction Introduction Self-locking Self-locking
● ● ●
••Design Design
72x50x22 cm 10.5 kg 66 mm/s Payload 1kg
Axial Axialrotation rotation Tangent Tangentobstacle obstacle Force Forceregulation regulation Frame Frame
Overview Overview
Experiments Experiments
50 cm
Power Powerunit unit
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
72 cm
22 cm
22
Experiment on Cylindrical Pole Results ● ● ●
Introduction Introduction Self-locking Self-locking Design Design
●
●
Performed at Thales Steel cylindrical pole 200 mm diameter Easy climbing with eight springs Possible helicoïdal motion with turret at 45°
Experiments Experiments Cylindrical Cylindrical Conical Conical
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
23
Experiment on Conical Pole Results ● ● ●
Introduction Introduction
● ●
Self-locking Self-locking
●
Performed at IFMA Conical wooden pole (low friction, µ = 0.47), height 8m, diam. 210 / 140 mm Absolute necessity of the force regulation linkage Sensitivity to the overhanging distance a Optimal number of springs: 6. Climbed 6 m then slipping occured Intense holding force, creating grooves at the wood surface
Design Design Experiments Experiments Cylindrical Cylindrical Conical Conical
Conclusion Conclusion
Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
24
Conclusion Main results ● ● ● ●
Introduction Introduction Self-locking Self-locking
● ● ●
Design Design Experiments Experiments Conclusion Conclusion
Pole climbing robot Pobot V2 Innovative principle of rolling self-locking No energy is consumed to maintain the robot at a given altitude Can climb cylindrical and conical poles from 300 mm to 100 mm Passive normal force regulation with springs + NL force amplifying linkage Can cross tangential obstacles Can rotate around the pole
Future work ● ● ● ● ●
Improving weight and compactness Active force regulation → more compact linkage Improve motion smoothness when going down Separate turret actuator Improve stability during horizontal turns
PCT Patent 2009 ● Fauroux / Morillon LaMI / Thales, France CLAWAR ' 09, Istanbul, Turkey
Joint patent Thales / IFMA
eo d Vi
1
eo d Vi
2
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