UNIVERSITI TEKNIKAL MALAYSIA MELAKA
DESIGN AND ANALYSIS ON MECHANICAL
STRUCTURE OF CLIMBING ROBOT LEG
Thesis submitted in accordance with the partial requirements of the
Universiti Teknikal Malaysia Melaka for the
Bachelor of Manufacturing Engineering (Robotic And Automation) with
Honours
By
MUHAMMAD KHOIRUDIN BIN ZAKARIA
Faculty of Manufacturing Engineering
UTeM Library (Pind.1/2007)
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
BORANG PENGESAHAN STATUS LAPORAN PSM
JUDUL:
DESIGN AND ANALYSIS ON MECHANICAL STRUCTURE OF CLIMBING ROBOT LEG
SESI PENGAJIAN:
Semest er 2 2007/ 2008
Saya Muhammad Khoirudin b. Zakaria mengaku membenarkan laporan PSM / t esis (Sarj ana/ Dokt or Falsaf ah) ini disimpan di Perpust akaan Universit i Teknikal Malaysia Melaka (UTeM) dengan syarat -syarat kegunaan sepert i berikut :
1. Laporan PSM / t esis adalah hak milik Universit i Teknikal Malaysia Melaka dan
penulis.
2. Perpust akaan Universit i Teknikal Malaysia Melaka dibenarkan membuat salinan
unt uk t uj uan pengaj ian sahaj a dengan izin penulis.
3. Perpust akaan dibenarkan membuat salinan laporan PSM / t esis ini sebagai bahan
pert ukaran ant ara inst it usi pengaj ian t inggi.
4. *Sila t andakan (√)
SULIT
TERHAD
TIDAK TERHAD
(Mengandungi maklumat yang berdar j ah keselamat an at au kepent ingan Malaysia yang t ermakt ub di dalam AKTA RAHSIA RASMI 1972)
(Mengandungi maklumat TERHAD yang t elah dit ent ukan oleh organisasi/ badan di mana penyelidikan di j alankan)
DECLARATION
I hereby, declare this thesis entitled “Design and Analysis on Mechanical Structure of Climbing Robot Leg” is the result of my own research
Except as cited in the references.
Signature :……….
Author’s Name : Muhammad Khoirudin B. Zakaria
APPROVAL
This thesis submitted to the senate of UTeM and has been accepted as partial fulfillment of the requirements for the degree of Bachelor of Manufacturing Engineering
(Robotic And Automation) with Honours. The members of the supervisory committee are as follow:
……… Main Supervisor
( En. Khairol Anuar B. Rakiman ) Faculty of Manufacturing Engineering
ABSTRAK
ABSTRACT
DEDICATION
ACKNOWLEDGEMENT
Alhamdulillah, I’m grateful that by the power of Allah, Most Gracious, Most Merciful and with much guidance also support my final year project is now completed. First of all,I would especially like to thank to my beloved family especially my parent , Mr Zakaria b. Mat yusof and Selamah Bt. Che Mat who recently was passed away for showing love, support and advice when in truly need.
I would like to express my greatest appreciations to my wise supervisor, Mr. Khairol Anuar b. Rakiman . This thesis would not have been possible without his guidance and resources, and I am grateful for the opportunity to learn so much from him. And equally essential was Mr Hasan B. Atan, who has volunteered countless hours and untold energies on my behalf. I would like to thank him for agreeing to help me in the simulation process in Solid Word drawing.
TABLE OF CONTENTS
2. LITERATURE RIVIEWS
3. METHODOLOGY
4. LEG DESIGN: PRELIMINARY DESIGN
LIST OF FIGURES
Figure 2.1: Leg Configuration.
Figure 2.2: Roverwax Wheeled Robots. Figure 2.3 : Titan iv Legged Robots
Figure 2.4: hybrid biped leg wheeled robot. Figure 2.5: lynx motion tracked robot.
Figure 2.6 : Vacuum rotor package to generate aerodynamic attraction Figure 2.7: Exploded view of the vacuum chamber with flexible bristle skirt seal.
Figure 2.8: The pressure force isolation rim is made of re-foam. Figure 2.9: Left: Robtank immersed in a water tank while inspecting the tank floor;Right: Robot climbing on a glass wall after transition from floor to wall.
Figure 2.10 Left: Solid drawing of RobTankRight: Vehicle climbing on curved wall (3 metre Diameter)
Figure 2.11: Transit gait of robot from ground to wall. Figure 2.12: World coordinate system
Figure 2.13: Foot tip trajectories
Figure 2.14: Rotation method of two virtual and limitation. Figure 2.15: Set of serial links connected by joints.
Figure 3.6: This figure show from step by step how the object Designed are transform and become a climbing robot. Figure 4.6: This figure show the finish of climbing robot sketching. Figure 4.7: Sketch for climbing robot design.
Figure 4.16: One of the parts of components is draw in parts file. Figure 4.17: Parts was mate in assembly files.
Figure 5.8: Displacement for shaft
Figure 5.9: Displacement result table for shaft Figure 5.10: Design Check for FOS
Figure 5.11: Start simulation with choose the mechanism. Figure 5.12: Direction chooses with suitable parts. Figure 5.13: Simulation in calculate.
Figure 5.14: Simulation start to run. Figure 5.15: Simulation in progress.
Figure 5.16: Simulation still in progress and waiting to finish
LIST OF ABBREVIATIONS
DC PSM
- -
Direct current
CHAPTER 1
INTRODUCTION
Robotic systems are invariably formed of multiple bodies that interact with each other and with the environment in a variety of modes. Design and analysis of such systems are challenging for number reasons; these include the complexities of deriving models of motion resulting from the applied actuation, composing controllers to achieve the desired motions and forces, and, choosing the correct design parameters. Deriving motion models is especially difficult if effects of system dynamics are considered. The derivation of forces resulting from the body accelerations is complex, especially, when multiple bodies and multiple environmental contacts are involved. For these reasons dynamics is often ignored and quasi-static motions are implemented in robots.
what design choices critically affect the constraints and also what design changes are advantageous. In the design and analysis of climbing robot, there is a need for better understanding of the relation between the design choices and critical constraints. For example there is no unified approach for determining under what environmental conditions (eg. ground friction) a robot will walk reliably and what design choices can be made to improve the performance. Study of robot dynamics has been identified to be important and open problem.
1.1 PROBLEM STATEMENTS
customer is improved. Therefore a customer driven solution should be lightweight and modular.
1.2 OBJECTIVE / OUTCOME
The objectives of this project are the following:
a) To create and design a climbing robot leg.
b) To analysis the joint and link of climbing robot leg. c) To analyses mechanical designs of leg climbing robot.
1.3 SCOPE
The scopes of this study are:
a) To design a leg climbing robot.
CHAPTER 2
LITERATURE REVIEWS.
2.1 Introduction
A Literature review is a body of text that aims to review the critical points of current knowledge on a particular topic. Most often associated with science-oriented literature, such as a thesis, the literature review usually precedes a research proposal, methodology and results section. For this Thesis, the step how the climbing robot leg design and analyze is explained.
2.2 Design Concept
product designer combines art, science and commerce for tangible non-perishable items. This evolving role has been facilitated by digital tools that allow designers to communicate, visualize and analyze ideas in a way that would have taken greater manpower in the past. . As with most of the design fields the idea for the design of a product arises from a need and has a use. It follows certain method and can sometimes be attributed to more complex factors such as association and Telesis.
Aesthetics is considered important in Product Design but designers also deal with important aspects including technology, ergonomics, usability, human factors and material technology. The values and its accompanying aspects which product design is based on vary, both between different schools of thought and among practicing designers. [ Holm, Ivar.(2006)]
Product designers are equipped with the skills needed to bring products from conception to market. . They should also have the ability to manage design projects, and subcontract areas to other sectors of the design industry. Also used to describe a technically competent product designer or industrial designer is the term Industrial Design Engineer.
2.2.1 The Hierarchical Design
based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The process consists of tests and filters various levels. The tests and filters exploit the physical nature of the system and the task.
At the first level, individual modules are considered. If a module can be removed early in the design process, it will eliminate a vast number of sub-assemblies and an even larger number of assemblies. Hence, filters at the early stages are very effective in reducing the size of the design space later in the process. At a second level a group of modules, or sub-assembly, can be considered. [Farritor, S.On. (2000)]
2.1.2 3D Computer modeling
In the past decade, the dominant mode of representing design has shifted dramatically from drawing, often created using a computer to 3D computer Models. These model represent designs as collection of 3D entities, each usually constructed from geometric primitives, such as cylinder blocks and holes. The advantages of 3D computer include:
a) The ability to easily visualize the three dimensional form of the design.
b) The ability to automatically compute physical properties such as mass and volume.
c) Efficiency arising from of one creation of one and only one canonical description of the design.
model of an entire product is known, depending of the industry setting, as a “digital mock up”, ”digital prototype” or “virtual prototype”. [Karl T. Ulrich. (2003)]
2.2 Properties of climbing robots
Climbing robots represent a specific kind of walking robots, which are useful while operating in environments unfriendly or harmful for a human. Moreover, climbing robots are specially designed for moving on sloping or vertical surfaces, as Well as on horizontal ones( e.g. ceilings). In such situations, the influences of gravitational forces become very important - the design of the legs should assure reliable fastening to the working surface. There are generally two ways so fastening the climbing robot to the surface:
a) Durable mechanical connection between the robot’s grippers (legs) and the environment, using pliers-like grippers; this is typical for robots climbing on constructions made of metal profiles (pipes, T-profiles, etc.)
b) making use of adhesive forces between the gripper’s surface and the working surface; the tightening force is produced by under pressure or — for robots climbing on surfaces made of ferromagnetic materials—electromagnetic grippers. [ P. Dutkiewicz, K. Kozłowski and W. Wroblewski ( 2004)]
2.2.1 Robot Legs
adhesive foot for the robot like suction cup or other type of adhesive. [Garth Zeglin. (2002)]
Dynamical stability can be defined that the system which allows something in the system to be stable like in the big place, to support the centre of mass of body to stabile without collapse. With this dynamic stability, dynamic gaits can stay in case stable to back up something burden with identify the steps to make sure his stability.
In general, in many design process those aspects should be taken into consideration, among its consideration as the loss stability, stability over end and attraction land to work face locomotion on uneven terrain. However, a designer can control the number of DOF that are retained and eliminated. There are three step to control DOF by changing types of articulation, joint and links likes introducing rigid connection, retaining one DOF by introducing a single lower-pair joint and retaining the full two DOF by introducing at least two lower-joint pairs. The increasing of DOF which consist chain must be control either activelyby actuation, semi activelyusing springs and dampers or passively by adding some form of structural equilibration using hardware constraints.[Wallace,D (1994)]
2.2.2 Leg Design
In the designing process, the leg of a walking and wall-climbing robot must be designed to have the following capabilities:
a) Supporting the robot on ground.
b) Gripping the walls and ceilings not allowing the robot to fall down especial during climbing motion.
c) Performing maneuverability left or right.
d) Changing the posture of the robot while on transition movement.
