yugang liu & guangjun liu

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Track–stair Interaction Analysis And Online Tipover Prediction for A Self-reconfigurable Tracked Mobile Robot Climbing Stairs Yugang Liu & Guangjun Liu Subje ct: Author: IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 14, NO. 5, OCTOBER 2009

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Subject:. Track–stair Interaction Analysis And Online Tipover Prediction for A Self-reconfigurable Tracked Mobile Robot Climbing Stairs. Yugang Liu & Guangjun Liu. Author: . IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 14, NO. 5, OCTOBER 2009. Say before:. Main content:. - PowerPoint PPT Presentation

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Page 1: Yugang Liu & Guangjun Liu

Track–stair Interaction Analysis And Online Tipover Prediction

for A Self-reconfigurable Tracked Mobile Robot Climbing Stairs

Yugang Liu & Guangjun Liu

Subject:

Author:

IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 14, NO. 5, OCTOBER 2009

Page 2: Yugang Liu & Guangjun Liu

Say before:

Page 3: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 4: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 5: Yugang Liu & Guangjun Liu

Introduction of the RLMA (Ryerson Linkage Mechanism Actuator):

The main features:1. Simple and dexterous2. Self-reconfigurable3. Composing manipulator easily

dexterous

Page 6: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 7: Yugang Liu & Guangjun Liu

General procedure of climbing stairs :

Page 8: Yugang Liu & Guangjun Liu

( 2 ) / 2tL r L

(0) ( 2 ) / 2 / 2tLp L r L

Robot-parameters identification :

Page 9: Yugang Liu & Guangjun Liu

Stair-parameters identification :

d0

Page 10: Yugang Liu & Guangjun Liu

Ψ0 and h:

Stair-parameters identification :

Sine’s theorem

Page 11: Yugang Liu & Guangjun Liu

b:

Page 12: Yugang Liu & Guangjun Liu

Procedure for crawler climbing stairs:

Page 13: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 14: Yugang Liu & Guangjun Liu

Nonslipping conditions :

Page 15: Yugang Liu & Guangjun Liu

Nonslipping with friction :Nonslipin

g

1 1 1s sf N F f N

is the most coefficient of static friction.

sf

Page 16: Yugang Liu & Guangjun Liu

Grousers hooking:Nonslipin

g

Page 17: Yugang Liu & Guangjun Liu

Slippage and interactive motion analysis :First two steps:

Page 18: Yugang Liu & Guangjun Liu

Step 3 slippage:

x Ceil functiongives the smallest integer lager than or equal to x

2 2 2 2( / ) ( / )rem g gk b h d b h d

Page 19: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 20: Yugang Liu & Guangjun Liu

kinematic analysis and step classification :

The coordinate system:

Page 21: Yugang Liu & Guangjun Liu

Step 1----

mx

mz

2L

, ,m mx z

Page 22: Yugang Liu & Guangjun Liu

Step 2----

θ = θs

, ,m mx z

Page 23: Yugang Liu & Guangjun Liu

Step 3---- , ,m mx z

Page 24: Yugang Liu & Guangjun Liu

Step4--- , ,m mx z

Landing process consists of two parts:Subprocess 1. the pitch joint rotates anticlockwise;Subprocess 2. the driving wheels continue to drive the robot until it plunges onto the upper floor.

Page 25: Yugang Liu & Guangjun Liu

Main content:

•1. Introduction of the crawler•2. Procedure for crawler climbing stairs•3. Slippage and interactive motion

analysis•4. Kinematic analysis and step

classification•5. Track-stair interactive force analysis•6. Conclusion

Page 26: Yugang Liu & Guangjun Liu

Track-stair interactive force analysis :Step 0

Quoted from Y. Liu and G. Liu, “Kinematics and interaction analysis for tracked mobile manipulators,” in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., San Diego, CA, USA, Oct. 2007, pp. 267–272.

It can be treated as movingon a inclining terrain.

Page 27: Yugang Liu & Guangjun Liu

Step 1It can be treated as pull slip when one grouser has hooking the tread of the first stair firmly.

Page 28: Yugang Liu & Guangjun Liu

Track-stair interactive force analysis :Step 2

Case 1:If one point contacts with stairs.N1, Nd, F1, Fp, Fd are calculated in the same way as step 1.

It has two kinds of situation.

Case2:If two point contacts with stairs.

Page 29: Yugang Liu & Guangjun Liu

Step 3

It can be treated as movingon a inclining terrain and the supporting points are only three, like as step 0.

Page 30: Yugang Liu & Guangjun Liu

Step 4

The supporting forces N1 and N2 for step 4 can be calculated in the same way as that in step 3, but replaced r with r+(L/2)sin(θs- θ) and k with ns-1.

Page 31: Yugang Liu & Guangjun Liu

Conclusion:

• In this paper, track–stair interactions were analyzed systematically and conditions for firm-hooking and nonslipping were presented for a self-reconfigurable tracked mobile robot climbing stairs.

• The stair-climbing process is divided into four steps, with consideration of the track–stair interactions.

• As the first attempt to analyze track–stair interactions, this paper has laid a solid foundation for further investigations on this important topic.

Page 32: Yugang Liu & Guangjun Liu

Thank you!