NDLI: Self-Adjustable Docking Mechanism With Passive Linkage for Mobile Robot

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Choi, Hyun Do Lee, Kung Wun Woo, Chun-Kyu Rew, Ho Seon Kim, Soo Hyun Kwak, Yoon Keun
Copyright Year	2006
Abstract	Autonomous mobile robot increasingly expands its functionality into various applications where the long-term autonomous capability is necessary. These applications, warehouse service, building inspection, exploration of unknown terrains and military reconnaissance, require the mobile robot to correspond with the command of remote operators or environments. To meet this requirement, automatic recharging station can be used for a robot not to be taken offline. However, the range of docking error is wide by various homing algorithms and kinds of sensors. This paper describes a new docking mechanism developed to compensate entry error of robot in homing and to maintain robust state in the process of recharging battery without actuators and sensors. The proposed mechanism is self-adjustable to position and orientation of robot and reconfigures its states by driving force of mobile robot without any active energy elements. The geometric parameters are determined to avoid mechanical interference in docking procedure and specifications of springs are obtained from optimization which maximizes the grip force with constraint induced at each docking process. The docking mechanism can compensate for ±5cm lateral offset error and ±30° orientation error of mobile robot and holds it over 20N load after docking is finished.
Sponsorship	Design Engineering Division and Computers and Information in Engineering Division
Starting Page	787
Ending Page	793
Page Count	7
File Format	PDF
ISBN	0791842568
DOI	10.1115/DETC2006-99054
e-ISBN	079183784X
Volume Number	Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2006-09-10
Publisher Place	Philadelphia, Pennsylvania, USA
Access Restriction	Subscribed
Subject Keyword	Linkages Actuators Military systems Inspection Batteries Mobile robots Optimization Stress Errors Algorithms Warehouses Sensors Springs Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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