LOW-COST MODULAR LABORATORY CRAWLER BOT SETUP TO DEMONSTRATEamp;NBSP;TWO-AXIS HOLONOMIC MOTION.

摘要

Locomotives which rely on independent wheel drive provide minimum contact with surface, minimizing the on-field traction leading to loss of control. Traction can be achieved by integrating these independent set of wheels with a belt drive mechanism. Not only traction, but use of crawling mechanism based on tread belts will improve stability; provide maximum surface contact and even weight distribution. This approach is more efficient but is only deployed in physically challenging environments. Since this method has proved to be robust, no upgradation is done on this field of motion. Most of the conventional crawling machines are nonholonomic, which means they can only achieve a desired motion by adjusting their orientation accordingly. This makes it difficult to implement such crawling mechanism on conventional automotive systems. The proposed invention is laboratory setup to realise holonomic motion using traditional conveyor locomotive systems. The advantage of a holonomic system is that, more degrees of motion can be achieved with minimal actuators. The study of holonomy can allow developing mobile robots which can roll over surface in more directions with reduced complex mechanisms. This approach relies on modifying the caterpillar wheels with sectioned flappers to allow motion on any kind of surface, in more than four directions without any steering mechanics. Students can learn the holonomic nature of a motion using the implemented setup. In addition to this, it is possible to demonstrate two axial motions. The system is a unique setup deigned to achieve motion on dual axis over a plane, or uneven surface by upgrading the conventional caterpillar mechanism rather than replacing them.