Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR
Department of Mechanical Engineering, Ben Gurion University of the Negev, Beer Sheva 8410501, Israel
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Appl. Sci. 2020, 10(24), 8767; https://doi.org/10.3390/app10248767
Received: 28 October 2020
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Revised: 2 December 2020
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Accepted: 4 December 2020
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Published: 8 December 2020
(This article belongs to the Section Robotics and Automation)
In this paper we present a wheeled robot platform for child-parent robot collaboration. The new robot, named Big STAR (BSTAR), is fitted with a tail that can act as a ramp to carry and deploy a child RSTAR that can crawl between small cracks and underneath obstacles. Both robots possess sprawling capabilities inspired from insects, enabling them to transform their external geometry and dynamics to overcome a variety of obstacles. The BSTAR can travel at speeds of up to 1.4 m/s, carry payloads of more than five kilograms and travel over rough terrains. The collaboration between the two robots substantially increases their navigability and their capability to overcome obstacles. It increases their working distance and scouting area since the larger robot can act as a charging point for the smaller one. We first describe the design of the newly developed parent BSTAR robot and provide a kinematic and dynamic analysis that determines the force requirements of the robots when collaborating, followed by an evaluation of their mechanical and electrical requirements. We show that under multiple challenging scenarios the robot pair can successfully overcome a variety of obstacles.
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Keywords:
crawling robot; bioinspired hybrid robot; mechanical design; reconfigurable robot; sprawl tuning
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MDPI and ACS Style
Yacoby, D.; Yehezkel, L.; Inbar, O.; Zarrouk, D. Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR. Appl. Sci. 2020, 10, 8767. https://doi.org/10.3390/app10248767
AMA Style
Yacoby D, Yehezkel L, Inbar O, Zarrouk D. Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR. Applied Sciences. 2020; 10(24):8767. https://doi.org/10.3390/app10248767
Chicago/Turabian StyleYacoby, Daniel, Liran Yehezkel, Ori Inbar, and David Zarrouk. 2020. "Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR" Applied Sciences 10, no. 24: 8767. https://doi.org/10.3390/app10248767
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