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Research Papers

A Higher Casting and Jump Motions Realized by Robots Using Magnetic Brake Cylinder

[+] Author and Article Information
Eyri Watari

 Tokyo Institute of Technology, 2-12-1-S5-16 Ookayama, Meguro-ku, Tokyo 152-0023, Japaneyri.watari@cm.ctrl.titech.ac.jp

Hideyuki Tsukagoshi

 Tokyo Institute of Technology, 2-12-1-S5-19 Ookayama, Meguro-ku, Tokyo 152-0023, Japanhtsuka@cm.ctrl.titech.ac.jp

Ato Kitagawa

 Tokyo Institute of Technology 2-12-1-S5-16 Ookayama, Meguro-ku, Tokyo 152-0023, Japankitagawa@cm.ctrl.titech.ac.jp

Takahiro Tanaka

 Mitsubishi Electric Co, 8-1-1 Tsukaguchi-Honmachi, Amagasaki City, Hyogo 661-8661, JapanTanaka.Takahiro@dx.MitsubishiElectric.co.jp

J. Mechanisms Robotics 3(4), 041002 (Sep 26, 2011) (11 pages) doi:10.1115/1.4004889 History: Received January 25, 2010; Revised May 17, 2011; Published September 26, 2011; Online September 26, 2011

A casting motion or a jumping motion can enhance the traverse ability and agility simultaneously of a mobile robot. This paper describes the development of a novel actuator, based on a pneumatic driving unit, which enables the generation of high-speed motion necessary to realize the motions mentioned above. The proposed actuator, named Magnetic Brake (MB) Cylinder, is composed of a pneumatic cylinder, a permanent magnet, a portable tank, and small valves. The speed of conventional pneumatic cylinders highly depends on the size of the valve which drives it. Since the magnet plays a role to enhance the impulsive release function of pneumatic energy instead of using a big and heavy valve, the pressure inside the cylinder can be kept in high condition, enabling the generation of high velocity with light structure. The height control method of casted objects with the MB Cylinder and its design method are also described in this paper. The analysis of the performance of the MB Cylinder and its simulation method are described for when using the MB Cylinder for both casting motion and jumping motion. After the developed unit is installed on both the casting device and the jumping robot, the validity of the proposed methods is experimentally verified in addition to discussion on its application to rescue operation.

Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Casting robot to search for victims behind a 2m wall with the casted child machine equipped with a camera

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Figure 2

Conventional pneumatic circuit

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Figure 3

Possible pneumatic circuits

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Figure 4

Outline of MB Cylinder

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Figure 5

Double chamber structure to control the casting height

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Figure 6

Time chart of the control valve to control the casting height

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Figure 7

Processes of casting with the MB Cylinder

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Figure 8

Model of the heat transfer from the tank to the cylinder

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Figure 9

Transient phenomenon of the pressure inside the tank just after valve 1 was opened

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Figure 10

Casted height of child machine with different masses

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Figure 11

Design procedure of MB Cylinder

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Figure 12

Pressure and velocity compared between the MB Cylinder and the conventional cylinder unit with same components

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Figure 13

Dual structure of the MB Cylinder

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Figure 14

Optimal cylinder volume to maximize the casting height

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Figure 15

Optimal length of the cylinder tube within the specified cylinder volume

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Figure 16

Rapid and safe approach to the collapsed building using the casting device

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Figure 17

Search inside the collapsed building by the jumping robot

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Figure 18

Developed MB Cylinder equipped with the pole and the laser range finder

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Figure 19

Simulation and experimental results of the controlled casting height, showing the opening time of the control valve

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Figure 20

Trajectory of the child machine to the target

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Figure 21

Image of the structure of jumping robot with MB Cylinder

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Figure 22

Developed jumping robot equipping MB Cylinder

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Figure 23

Behavior of jumping robot traversing a 1m high obstacle

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Figure 24

Developed child machine equipping a small MB Cylinder, jumping over the obstacle 5 times higher than its own height

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