The paper presents a new member of Epi.q robot family, a series of mobile robots with a wheel-legged locomotion and with the ability to overcome obstacles and move on uneven terrains. The particular feature of this robot family is the ability to switch from a wheel locomotion to a leg locomotion without any external active control but only depending on the dynamic conditions. In particular this work deals with the design of the latest prototype developed, analyzing the design and construction phases. This prototype is more powerful than the previous thanks to the possibility to have four driving units instead of two. The robot architecture has been studied in order to be modular. Several robot configurations can be obtained with the same structure and this allows to test how each component affect the overall robot behavior. Moreover the mechanical design is more accurate and reliable respect to previous versions. A sensing system has been introduced with the aim to evaluate the performances of each robot architecture. Finally an on-board processor has been added. This allows the definition of more complex control logics such as the cooperation between a speed control with a torque control in the four driving units configuration. Moreover it increases the smart tasks that the robot is able to perform such as the developing of a remote autonomous control rather than a manual drive by an operator.

Design and construction of a new version of the Epi.q UGV for monitoring and surveillance tasks / Quaglia, Giuseppe; Nisi, Matteo. - ELETTRONICO. - 4:(2015), p. V04AT04A001. (Intervento presentato al convegno ASME 2015 International Mechanical Engineering Congress and Exposition, IMECE 2015 tenutosi a usa nel 2015) [10.1115/IMECE2015-50163].

Design and construction of a new version of the Epi.q UGV for monitoring and surveillance tasks

QUAGLIA, Giuseppe;NISI, MATTEO
2015

Abstract

The paper presents a new member of Epi.q robot family, a series of mobile robots with a wheel-legged locomotion and with the ability to overcome obstacles and move on uneven terrains. The particular feature of this robot family is the ability to switch from a wheel locomotion to a leg locomotion without any external active control but only depending on the dynamic conditions. In particular this work deals with the design of the latest prototype developed, analyzing the design and construction phases. This prototype is more powerful than the previous thanks to the possibility to have four driving units instead of two. The robot architecture has been studied in order to be modular. Several robot configurations can be obtained with the same structure and this allows to test how each component affect the overall robot behavior. Moreover the mechanical design is more accurate and reliable respect to previous versions. A sensing system has been introduced with the aim to evaluate the performances of each robot architecture. Finally an on-board processor has been added. This allows the definition of more complex control logics such as the cooperation between a speed control with a torque control in the four driving units configuration. Moreover it increases the smart tasks that the robot is able to perform such as the developing of a remote autonomous control rather than a manual drive by an operator.
2015
9780791857397
9780791857397
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2657711
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