Design Optimization of Wheel-and-Leg Transformable Robot with Passive Actuation
Abstract
This thesis presents design optimization and hardware development of a new small-size Unmanned Ground Vehicle (UGV) equipped with novel wheel-leg transformable mechanisms for enhanced, adaptive ground locomotion. The design of the transformable wheels is based on a previously developed Wheel-and-Leg Reconfigurable (WheeLeR) mechanism proposed for microrobots. Engineering challenges involved with physical scaling-up of this passive mechanism into a fully functional UGV is addressed by Multidisciplinary Design Optimization, design of a suspension system, and hardware development. Passively transformable wheels of this mobile robotic platform can be customizable to suit different types of terrains and have a capability to climb intermediate and continuous obstacles, such as staircases. The factors affecting the transition between wheel-and-legs are identified and optimized by design space exploration and gradient descent algorithm. The dimensions of the robotic platform are optimized by multi-objective optimization to achieve the objectives of minimizing the torque required for the robot to climb a staircase and maximizing the gradient of the ascent of the robot while climbing up or down an obstacle without turning over. Post optimality analysis provides insights into the effects of variables and parameters on these objectives. Design, manufacture, and assembly of the chassis and the wheels with proper sensor configuration and electronic layout completes the process of scaling-up to develop a fully functioning robotic platform with optimal and reliable performance.
Subject
transformable robotspassive actuation
design optimization
suspension system
sensors
prototype
Citation
Sane, Siddharth Nitin (2021). Design Optimization of Wheel-and-Leg Transformable Robot with Passive Actuation. Master's thesis, Texas A&M University. Available electronically from https : / /hdl .handle .net /1969 .1 /200813.