A fluid-actuated driving mechanism for rolling robots

Seyed Amir Tafrishi, Esmaeil Esmaeilzadeh, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.

Original languageEnglish
Title of host publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages256-261
Number of pages6
ISBN (Electronic)9781728100647
DOIs
Publication statusPublished - Jul 2019
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: Jul 3 2019Jul 5 2019

Publication series

Name2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
CountryJapan
CityOsaka
Period7/3/197/5/19

Fingerprint

Actuator
Rotating
Actuators
Robot
Robots
Fluid
Fluids
Pipe
Locomotion
Simulation Model
Degree of freedom
Internal
Unit
Motion
Alternatives
Design

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

Cite this

Tafrishi, S. A., Esmaeilzadeh, E., Svinin, M., & Yamamoto, M. (2019). A fluid-actuated driving mechanism for rolling robots. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 (pp. 256-261). [8833646] (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2019.8833646

A fluid-actuated driving mechanism for rolling robots. / Tafrishi, Seyed Amir; Esmaeilzadeh, Esmaeil; Svinin, Mikhail; Yamamoto, Motoji.

2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 256-261 8833646 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tafrishi, SA, Esmaeilzadeh, E, Svinin, M & Yamamoto, M 2019, A fluid-actuated driving mechanism for rolling robots. in 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8833646, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 256-261, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, Japan, 7/3/19. https://doi.org/10.1109/ICARM.2019.8833646
Tafrishi SA, Esmaeilzadeh E, Svinin M, Yamamoto M. A fluid-actuated driving mechanism for rolling robots. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 256-261. 8833646. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). https://doi.org/10.1109/ICARM.2019.8833646
Tafrishi, Seyed Amir ; Esmaeilzadeh, Esmaeil ; Svinin, Mikhail ; Yamamoto, Motoji. / A fluid-actuated driving mechanism for rolling robots. 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 256-261 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).
@inproceedings{bfcf2b1c5ecf4cb4a4117012d9cb379d,
title = "A fluid-actuated driving mechanism for rolling robots",
abstract = "There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.",
author = "Tafrishi, {Seyed Amir} and Esmaeil Esmaeilzadeh and Mikhail Svinin and Motoji Yamamoto",
year = "2019",
month = "7",
doi = "10.1109/ICARM.2019.8833646",
language = "English",
series = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "256--261",
booktitle = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",
address = "United States",

}

TY - GEN

T1 - A fluid-actuated driving mechanism for rolling robots

AU - Tafrishi, Seyed Amir

AU - Esmaeilzadeh, Esmaeil

AU - Svinin, Mikhail

AU - Yamamoto, Motoji

PY - 2019/7

Y1 - 2019/7

N2 - There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.

AB - There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.

UR - http://www.scopus.com/inward/record.url?scp=85073255105&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85073255105&partnerID=8YFLogxK

U2 - 10.1109/ICARM.2019.8833646

DO - 10.1109/ICARM.2019.8833646

M3 - Conference contribution

AN - SCOPUS:85073255105

T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

SP - 256

EP - 261

BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

PB - Institute of Electrical and Electronics Engineers Inc.

ER -