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AMR > Locomotion > Flashcards

Locomotion Flashcards

1
Q

What is locomotion?

A

Physical interaction between the vehicle and its environment

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2
Q

What are the main concerns of locomotion?

A
  • Interaction forces

* Mechanisms and Actuators that generates them.

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3
Q

What are the main issues in locomotion?

A
  • Stability
  • Characteristics of contact
  • Type of environment
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4
Q

Mention some types of robots

A
  • Wheeled robots
  • Tracked robots
  • Legged robots
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5
Q

What are some characteristics of wheeled robots?

A
  • Easy to build
  • Easy to control
  • Need flat terrain
  • Cannot climb stairs
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6
Q

What are some characteristics of tracked robots?

A
  • More difficult to build
  • Easy to control
  • Good on rough terrain
  • Cannot climb stairs
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7
Q

What are some characteristics of legged robots?

A
  • Hard to build
  • Hard to control
  • good con rough terrain
  • Can climb stairs
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8
Q

How many legs are required at least to reach stability?

A

Three legs to reach static stability.

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9
Q

How many legs are required for static walking?

A

six

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10
Q

How many wheels are sufficient to guarantee stability?

A

three

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11
Q

what is required if more than three wheels are added to the system?

A

A flexible suspension

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12
Q

What are the four basic wheels types?

A
  • Standar wheel
  • Castor wheel
  • Swedish wheel
  • Ball or spherical wheel
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13
Q

How many degrees of freedom does a standard wheel have?

A

Two. Rotation around the wheel axle and the contact point.

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14
Q

How many degrees of freedom does a castor wheel have?.

A

Three. Rotation around the wheel axle, the contact point and the castor axle.

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15
Q

How many degrees of freedom does a swedish wheel have?.

A

Three. Rotation around the wheel axle, around the rollers, and around the contact point.

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16
Q

Why do we need flexible suspension when having 4 wheels?

A

Because the system is hyperstatic

17
Q

Mention some arrangements of wheels?

A
  • 2 W: 1 fixed 1 steered
  • 2W: 2 fixed
  • 3W: 2 fixed 1 ball
  • 3W: 2 fixed 1 steered
  • 3W: 2 same shaft 1 steered
  • 3W: omnidirectional drive
  • 3W: synchro drive.
18
Q

How is the ackermann drive configured?

A
  • 2 axles: 2 passive, steerable wheels, 2 active fixed wheels.
  • Differential gearbox needed
19
Q

What are some characteristics of an ackermann drive?

A
  • Mediocre maneuverability
  • Good stability
  • Excellent balance
20
Q

How is a tricycle drive configured?

A
  • 1 passive, but actively steered wheel
  • 2 active fixed wheel
  • Gearbox needed
21
Q

What are some characteristics of a tricycle drive?

A
  • Better maneuverability
  • less stable at higher speeds
  • potential balance problem
22
Q

How is a differential drive configured?

A
  • 2 independently driven active fixed wheels

* 1 or 2 passive, non-steerable castor wheels

23
Q

What are some characteristics of a differential drive?

A
  • Easiest to build

* Excellent maneuverability

24
Q

What are some characteristics of a differential drive?

A
  • All wheels actively driven
  • All wheels simultaneously steerable
  • All translational velocities mechanically coupled
  • All rotational velocities mechanically coupled
  • Good maneuverability
  • Base orientation fixed
  • All wheels actuated by one motor
  • All wheels steered by another motor
  • Orientation in space of the robot frame remains always the same.
25
Q

What are some characteristics of a differential drive?

A
  • All wheels independently activated special mechanum wheels
  • 3 and 4 wheels design
  • Can translate and rotate simultaneously
  • Difficult odometry
26
Q

What is the name of an omnidirectional drive with 3 spherical wheels?

A

Tribolo

27
Q

What is the name of an omnidirectional drive with 4 wheels?

A

Uranus, CMU

28
Q

What is the role of kinematics?

A
  • Influences maneuverability

* Influences control

29
Q

What is the role of the shape of the robot?

A

*Constrain its maneuverability

AMR (8 decks)

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