Design of a redundant wheeled drive system for energy saving and fail safe motion
Mobile robots are widely used in many applications, such as transportation, military domain, searching, guidance, rescue, hazard detection, and carpet cleaning. Because mobile robots usually carry limited power sources, such as batteries, energy saving is an important concern. In particular, differe...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-11-01
|
| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016676074 |
| _version_ | 1818542327730274304 |
|---|---|
| author | Shuaiby Mohamed Akinori Yamada Shigenori Sano Naoki Uchiyama |
| author_facet | Shuaiby Mohamed Akinori Yamada Shigenori Sano Naoki Uchiyama |
| author_sort | Shuaiby Mohamed |
| collection | DOAJ |
| description | Mobile robots are widely used in many applications, such as transportation, military domain, searching, guidance, rescue, hazard detection, and carpet cleaning. Because mobile robots usually carry limited power sources, such as batteries, energy saving is an important concern. In particular, differential wheeled mobile robots that have two independently movable wheels are popular because of relatively low mechanical complexity to achieve three-dimensional motion on a ground. This article presents a new wheeled device with a redundant drive system which consists of three independently movable actuators and two planetary gears to connect the actuators to two wheels. The proposed system is able to continue its motion safely when one of the motors breaks down for some causes and also able to operate over a longer period of time due to energy saving consumption property. Experimental results show that the proposed method is effective in saving energy approximately by 20.45% for linear motion and 13.05% for circular motion compared to a conventional one. |
| first_indexed | 2024-12-11T22:20:37Z |
| format | Article |
| id | doaj.art-5c0f7367e2f04548b461de3066fee0ba |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-11T22:20:37Z |
| publishDate | 2016-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-5c0f7367e2f04548b461de3066fee0ba2022-12-22T00:48:28ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-11-01810.1177/1687814016676074Design of a redundant wheeled drive system for energy saving and fail safe motionShuaiby Mohamed0Akinori Yamada1Shigenori Sano2Naoki Uchiyama3Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanDepartment of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, JapanMobile robots are widely used in many applications, such as transportation, military domain, searching, guidance, rescue, hazard detection, and carpet cleaning. Because mobile robots usually carry limited power sources, such as batteries, energy saving is an important concern. In particular, differential wheeled mobile robots that have two independently movable wheels are popular because of relatively low mechanical complexity to achieve three-dimensional motion on a ground. This article presents a new wheeled device with a redundant drive system which consists of three independently movable actuators and two planetary gears to connect the actuators to two wheels. The proposed system is able to continue its motion safely when one of the motors breaks down for some causes and also able to operate over a longer period of time due to energy saving consumption property. Experimental results show that the proposed method is effective in saving energy approximately by 20.45% for linear motion and 13.05% for circular motion compared to a conventional one.https://doi.org/10.1177/1687814016676074 |
| spellingShingle | Shuaiby Mohamed Akinori Yamada Shigenori Sano Naoki Uchiyama Design of a redundant wheeled drive system for energy saving and fail safe motion Advances in Mechanical Engineering |
| title | Design of a redundant wheeled drive system for energy saving and fail safe motion |
| title_full | Design of a redundant wheeled drive system for energy saving and fail safe motion |
| title_fullStr | Design of a redundant wheeled drive system for energy saving and fail safe motion |
| title_full_unstemmed | Design of a redundant wheeled drive system for energy saving and fail safe motion |
| title_short | Design of a redundant wheeled drive system for energy saving and fail safe motion |
| title_sort | design of a redundant wheeled drive system for energy saving and fail safe motion |
| url | https://doi.org/10.1177/1687814016676074 |
| work_keys_str_mv | AT shuaibymohamed designofaredundantwheeleddrivesystemforenergysavingandfailsafemotion AT akinoriyamada designofaredundantwheeleddrivesystemforenergysavingandfailsafemotion AT shigenorisano designofaredundantwheeleddrivesystemforenergysavingandfailsafemotion AT naokiuchiyama designofaredundantwheeleddrivesystemforenergysavingandfailsafemotion |