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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Mandala, Mahender Pearlman, Jonathan Berner, Olof Kankipati, Padmaja Cooper, Rory |
| Copyright Year | 2013 |
| Abstract | Mobile robotic devices and other mobility related drive systems are often relegated to one of the two classes of devices available today: wheeled devices or tracked devices. Wheeled systems are more energy efficient and reliable than tracked systems, but existing designs have drawbacks related to rough-terrain driving and maneuvering in tight spaces. In this paper we describe the design and development of a drive system named the Single Motor Propelled Drive-train (SiMPl-D), which can potentially improve maneuvering over rough terrain and in tight spaces compared to traditional wheeled robots. SiMPl-D has two prominent features: a single drive motor, which provides both propulsion and turning, and is suspended under the center of mass of the device on a swingarm, which is linked through a suspension system to caster wheels; and it has reconfigurable drive wheel, which changes the turning radius of the device. Due to these features, SiMPl-D can traverse a wide range of terrain while remaining energy and cost efficient. SiMPl-D has been successfully used in an indoor/outdoor low-cost personal mobility device and is currently being implemented in other robotic mobility applications. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| File Format | |
| ISBN | 9780791855942 |
| DOI | 10.1115/DETC2013-13225 |
| Volume Number | Volume 6B: 37th Mechanisms and Robotics Conference |
| Conference Proceedings | ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2013-08-04 |
| Publisher Place | Portland, Oregon, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Trains Space Mechanical admittance Wheels Motors Surface roughness Engines Robotics Turning angles Design Suspension systems Center of mass Propulsion Robots |
| Content Type | Text |
| Resource Type | Article |
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