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Description
Autonomous delivery robot with cargo capacity around 10 kg and an average cruising speed between 4 and 8 km/h is capable of covering the local delivery range less than 10 km. The delivery robot encounters many challenges while operating on the pedestrian side walk such as traffic light crossings, obstacle detection & avoidance, yielding path to pedestrians and other vehicles, climbing curbs, etc. Many different types of robots are introduced in the market to perform such tasks. Among many, 6-wheel based vehicle is considered most versatile due to its capability of climbing curb stones and low-obstacles. Such ability is endowed from the bogie mechanism where 2 wheels are articulated with a single rod.
Nevertheless, the outstanding feature has its own downside due to an unintended turning of the bogie motor caused by unpredictable ground condition. Such wheel suspension system susceptible to distortion results in unstable ground contact of wheels and a pitching movement when an abrupt torque is imposed by the motor.
Therefore, the bogie mechanism has to be responsive to different driving conditions and environment to enable smooth driving while maintaining a certain degree of maneuverability.
Research is divided into 2 areas – mechanical perspective and electronic perspective. Mechanical perspective will cover the application of torsional spring and speculation on the spring constant and damping coefficient contributed by the DC motor within the bogie mechanism. On the other hand, electronic perspective will study feasibility of electronic torsional spring model and adaptive motor controller to cop with uncertain dynamics coming from the unexpected environment.
The study covers general overview of the robot bogie mechanism including its structure and function, modelling and analysis of motor controller for bogie mechanism to establish simulation model using Matlab Simulink. The study is expected to evaluate the feasibility of mechatronic combined model of the bogie mechanism.
References
[1] D. Kim, H. Hong, H. S. Kim, and J. Kim, ‘Optimal design and kinetic analysis of a stair-climbing mobile robot with rocker-bogie mechanism’, Mech. Mach. Theory, vol. 50, pp. 90–108, Apr. 2012, doi: 10.1016/j.mechmachtheory.2011.11.013.
[2] H. Zhao, C. Luo, Y. Xu, and J. Li, ‘Differential Steering Control for 6 × 6 Wheel-drive Mobile Robot’, in 2021 26th International Conference on Automation and Computing (ICAC), Portsmouth, United Kingdom, Sep. 2021, pp. 1–6. doi: 10.23919/ICAC50006.2021.9594210.
[3] J. Nah, K. Yi, W. Kim, and Y. Yoon, ‘Torque Distribution Algorithm of Six-Wheeled Skid-Steered Vehicles for On-Road and Off-Road Maneuverability’, presented at the SAE 2013 World Congress & Exhibition, Apr. 2013, pp. 2013-01–0628. doi: 10.4271/2013-01-0628.
[4] A. K. Gupta and V. K. Gupta, ‘Design and development of six-wheeled Multi-Terrain Robot’, in 2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE), Jabalpur, India, Dec. 2013, pp. 1–6. doi: 10.1109/CARE.2013.6733751.
[5] A. S. Milewski, Ł. Mierzejewski, and J. Tołstoj-Sienkiewicz, ‘Differential Control of Six-Wheeled Robot Using a Mobile Application’, Solid State Phenom., vol. 260, pp. 45–50, Jul. 2017, doi: 10.4028/www.scientific.net/SSP.260.45.
[6] V. Tavoosi, D. J. M. Rad, and D. R. Mirzaei, ‘Vertical Dynamics Modeling and Simulation of a Six-Wheel Unmanned Ground Vehicle’, p. 21.
| Keywords | autonomous driving, delivery robot, 6-wheel rover, bogie mechanism, |
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