DESIGN AND KINEMATIC MODELING OF A SCREW-PROPELLED MOBILE ROBOT TO PERFORM REMOTE EXPLOSIVE SCENT TRACING FILTER SAMPLING IN FOREST DURING HUMANITARIAN DEMINING

摘要

This paper displays the development of a mobile robot that performs Remote Explosive Scent Tracing Sampling for Humanitarian Demining using screw-drive modules. The design covers the analysis of the sampling task, conceptual design, locomotion analysis, sampling system analysis, carrier design, and controller selection. This modular mobile robot is characterized by its simplicity and its all-around body locomotion. The locomotion by means of screws allows the robot to omnidirectionally propel itself and explore harsh environments using an adequate combination of the angular speeds of each screw. A detailed study of forces present in the screw locomotion is explained. One approximation for the kinematic model was proposed and simulated with a trajectory tracking control.