| Abstrakt: |
In recent years, a boom in the use of multi-purpose robots has been observed. This has increased the need for developing stable and optimized All-Terrain Robots. These robots have excellent off-roading capabilities that can be useful for disaster relief operations, extra-terrestrial applications, commercial mining activities and safe agricultural practices. The designs for All-Terrain Robots proposed in the literature reports that the eccentric loads used for suspension can deteriorate the elasticity of the spring, also these robots are prone to punctures. Moreover, there is a scope to improve the gripping capabilities, and longevity, to extend the applications and stability of these robots. These challenges motivated the authors to develop a novel design of an all-terrain multipurpose robot for maneuvering through rugged terrain. In this design, the authors investigated multiple suspension systems, such as Rocker-Bogie, CRAB and RCL-e and selected the appropriate suspension mechanism for smooth and stable rover traversal. They also focused on choosing the tires for providing the maximum gripping capabilities, longevity, and resistance to punctures. The authors implemented an electronic subsystem to pilot the robot for maneuvering through rough, slippery, and sloppy terrains by optimizing the motor's torque and rotational speed. They also implemented a hardware-based architecture that includes embedded systems, sensors, circuits, motors, and power distribution for a six-wheeled ATR to visualize safe and efficient connections. Now, the authors evaluated the performance of the proposed robot in terms of vertical drop, stress-strain tests and stability in a simulated environment. Based on the simulation results, they demonstrate the supremacy of the proposed design over the existing designs of robots. [ABSTRACT FROM AUTHOR] |
