Jeffrey Gould Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs

Outline Objectives Criteria and Constraints Design Overview Some Specifics “In the Works”

Objectives To Develop a Novel Approach to Robot Locomotion Suitable for Urban Search and Rescue Design and Construct Critical Subsystems in a Prototype Emphasis on Kinematics and Controls

Criteria and Constraints Strong Enough to Force Its Way Through Rubble Physically Robust Enough to Survive in Harsh Environment Stable and Robust Control System Untethered Small to Penetrate Rubble Without Adversely Affecting Structure’s Stability Lightweight to Reduce Power Demands Simple to Set-Up and Operate Non-Hazardous

Design Overview

Burrowing Inspiration

Basic Arm Kinematics Two Joints Hydraulically Operated 180° Not Possible

More Inspiration Only Need 135° Not Unique Possible to Optimize

Optimization Shortest/Smallest –Cost –Bulk –Weight –Flow Rotation Requirement Torque Requirement

Equations

Heuristic Approach

How to Pick d min ? Determines Force Against Environment Mission Requirements More Information on Complete Robot Using Pounds at Tip Interference

Joint Specifics Find Rod End Find Bearing Check For Clearance

Bearings

FeFe FcFc FrFr RL

Tubing

In the Works Valves Pump Folding Design Balance Sensors

Folding Design Might be advantageous for locomotion Needed to get through doors

Balance Tail Section Simple Rear Legs

Sensors Joint Angle –Optical Encoder –Absolute –Single Turn Pressure Sensors Strain Gages Whiskers/Proximity

Questions?

180° Concept

Components