Lifting Mechanism for Payload Transport by Collaborative Mobile Robots Bassem HICHRI: 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
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Outline 1. General Introduction 2. State of the art - Mobile robots - Collaborative systems - Lifting mechanisms 3. C3Bots - Thesis goal - Co-manipulation method - Structural analysis - Dimensional synthesis - Predimensioning lifting capacity - 3D CAD and realized Prototype 4. Conclusion Bassem HICHRI Institut Pascal Clermont Ferrand
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Definition
A mobile robot is a manipulating mechanism mounted on a movable platform that transports it to the area where it carries out tasks . General Introduction
A mobile robot is characterized by:
State of the Art
•Mobility within the environment •Perception ability: sensing and reacting in the environment •A certain level of autonomy: limited human interaction
C3Bots Conclusion
This need of mobility results for many reasons •Extend the workspace •Better flexibility in achieving several tasks •Autonomous (goal of artificial intelligence)
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General use Mobile robots are used to achieve different tasks and in diverse applications:
General Introduction
State of the Art C3Bots
• • • • •
Overseeing and surveillance. Agriculture tasks: seeding, weeding. Casualty detection. Repairing in radioactive or hostile environment. Objects transport.
Conclusion
Packbot www.irobot.com
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Arnold: Differentially driven wheeled robot
Swarm-bots http://www.swarm-bots.org/
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C3Bots goal
General Introduction
The goal of C3Bots 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:
State of the Art C3Bots Conclusion
• 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
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Object transport
Obstacle climbing
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Structured environment mobile robots
General Introduction State of the Art 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
C3Bots Conclusion
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. 2011 [2] R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots. The MIT Press, 2004.
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All terrain mobile robots
General Introduction State of the Art Mobile Robots Collaborative systems Lifting Mechanisms
Micro 5 [4]: Five wheels mission rover. Pentad Grade Assist Suspension System PEGASUS
Crab [3]: Six wheels, Mechanical structure based on parallelogram bogies
C3Bots Conclusion
Nomad [5]: Four driving and steering wheels. [3] A. Krebs, T. Thueer, E. Carrasco, R. Siegwart, "Towards torque control of the CRAB rover", February 2008. [4] Kubota T., Kuroda Y., Kunii Y., and Nakatani I., "Small, light-weight rover Micro5" for lunar exploration, Acta Astronautica, 2003. [5] D. Wettergreen, M. Bualat, D. Christian, K. Schwehr, H. Thomas, D. Tucker, and E. Zbinden, Operating Nomad during the Atacama Desert Trek 1997.
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Obstacle climbing mobile robots
General Introduction State of the Art 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
Shrimp [8]: obstacle climbing with a passive frame
Hylos [9]: great characteristics with 16 DOF
Lifting Mechanisms
C3Bots Conclusion
[6] R. Volpe, J. Balaram, T. Ohm, R. Ivlev, and P. Rocky, "Rocky 7: A Next Generation Mars Rover Prototype", 1997. [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 2002. [9] C. G. F Ben Amar, "Performance evaluation of locomotion modes of an hybrid wheel-legged robot for self-adaptation to ground conditions” 2004
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Reconfigurable robots
General Introduction State of the Art Mobile Robots
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
Collaborative systems Lifting Mechanisms
C3Bots Conclusion
M-tran : Modular robots with six connection faces http://www.dvice.com/archiv es/2007/12/mtran2_robot_is. php
Atron : http://www.coolhunting. com/tech/shapeshiftingr.php
Swarmanoid [13]: collaborative aspect between hand-bot, foot_bot and fly_bot
[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. 641-650. robot, in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. [13] D. F. M Dorigo, Swarmanoid: a novel concept for the study of heterogeneous robotic swarms, 2012
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Payload manipulation and transport robots
General Introduction State of the Art Mobile Robots
S-bots Box pushing collaboration
Arnold: Differentially driven wheeled robot
Mobile robots using tools
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
Collaborative systems
Lifting Mechanisms
C3Bots Conclusion
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Lifting mechanisms
General Introduction State of the Art
A screw and pantograph lifting jack: EP 0 771 757 A2
Mobile Robots
Lifting mechanism for articulated bed: EP 2 108 288 A1
Lifting mechanism for a storage bed base: EP 2 462 842 A1
Collaborative systems
Lifting Mechanisms
C3Bots Conclusion
Load Lifting vehicle: WO 2012/155265 A1
Lifting mechanism with lift stand accomodation: US2013/0248786 A1
Patient lifting device: US2013/0269103 A1
Multidimensional lifting hand track: US2011/0052356A1 11
Positioning Accoding to the state of the art robotic system do not ensure comanipulation,transport and all terrain evolving at the same time. General Introduction State of the Art
•Make an innovative system with simple architecture •Ensure the manipulation, transport and (obstacles climbing)
C3Bots Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype
Conclusion
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Co-manipulation method
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Structural analysis
General Introduction State of the Art C3Bots Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype
Conclusion
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Structural analysis
General Introduction State of the Art C3Bots Co-manipulation Method Structural Analysis Dimentional Synthesis Predimensioning Lifting capacity 3D CAD Realized Prototype
Conclusion
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Dimensional synthesis
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Predimensioning lifting capacity
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3D CAD
General Introduction State of the Art C3Bots Co-manipulation Method Structural Analysis
First prototype design
Dimentional Synthesis
Mono-robot with retracted manipulator
Predimensioning Lifting capacity 3D CAD
Four robots are manipulating a cubic object
Realized Prototype
Conclusion
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Mono-robot in configuration for prehension
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Dynamic Simulation
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Realized prototype
General Introduction State of the Art C3Bots Co-manipulation Method Structural Analysis Dimentional Synthesis
Antagonist configuration of two mono-robots
The mono-robots started object prehension to lift the object
Predimensioning Lifting capacity 3D CAD Realized Prototype
Conclusion
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The robots put the object on top and will start the transport
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Conclusion and future works
General Introduction State of the Art C3Bots Conclusion
•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 C3Bots V2 for object transport on irregular grounds with obstacle climbing, with robots at a higher scale (30cm)
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THANK YOU
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