2017 Fiscal Year Research-status Report
Dynamic braking of omni-wheel rollers for dual robot cooperative task execution
| Project/Area Number |
17K12757
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| Research Institution | Fukushima University |
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Principal Investigator |
CANETE LUIS 福島大学, 共生システム理工学類, 研究員(プロジェクト) (80795708)
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| Project Period (FY) |
2017-04-01 – 2019-03-31
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| Keywords | Dynamic braking / Magnetic gear / Omni-wheel |
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| Outline of Annual Research Achievements |
The dynamic braking of omnidirectional wheels is a new topic and so the researcher presented the results of testing the wheel in the IEEE International Conference on Intelligent Robot Systesms (IROS). The topic garnered interest from top class robotics researchers. Presentations in local conferences and gatherings in Japan also allowed the researcher to discuss with professors and young researchers regarding the design of the wheel and the possible applications that the wheel may have.
An initial design mechanism for the dynamic wheel was developed that would simplify the design significantly by reducing the number of brakes required. Instead of one brake for every roller in the omnidirectional wheel, only one braking element is required. This was made possible with the development of a transmission system that uses permanent magnets gears. Using magnet gears embedded in the rollers a single central gear magnet can transmit forces to all the rollers at once so attaching a braking element of the central wheel transmits the braking force to the outer rollers. This new design is a novel and interesting method in terms of transmission and braking design. Furthermore, a model based on the kinematics previously developed was applied to the dynamic braking wheel for simulation.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The development of the magnetic gear system allowed the simplification of the design. With this new idea, the design and prototyping cycle will become faster. Furthermore, the cost of prototyping can be reduced since the designs can be prototyped without sending to fabrication houses.
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| Strategy for Future Research Activity |
At the moment, a second design of the dynamic braking wheel that uses two central wheels is being developed. This will allow differential control of the rollers which will eliminate the need for a braking device. Instead two actuators (DC motors) can be used to apply the force on the rollers.
The test bed robot system is also being retrofitted with new controllers to simplify the control further. With the test bed updated and the current design of wheel finalized, tests can be performed to gather data.
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| Causes of Carryover |
The first year was used to develop basic mechanism prototypes, discussion with other researchers and initial tests. The second year of the project requires more expenditures since the wheel will be developed and the corresponding test bed system and data gathering system will be implemented. This includes sensors, controllers and prototyping materials. Additional costs are also expected coming from the presentation of preliminary and final results from tests in conferences and journals.
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