Kinematic parameter design of a novel compliant field robotic platform for large-obstacle overcoming

Abstract

In this research, new mechanism robot platform by using energy conversion is suggested for large-obstacle overcoming, named FlipBot-II, which can be used for accidents such as Fukushima nuclear power plant. By changing the potential energy from a compliant pole deflection to the kinetic energy, the robot can jump to overcome an obstacle. The kinematic parameters are optimized to increase the leaping ability. The objective function is selected by the leaping height while the direction of jumping is constrained by the forward direction. The kinematic parameters of the compliant rectangular pole are selected by the design parameters: length, width, and thickness. Based on orthogonal array experimental design, DAFUL simulation is performed to get the maximum leaping height. As a result, the leaping height is increased by 6.2 % from the initial value while the initial value is also found near the optimum by trial and error method. Experimental verification is remained as a future work of this study.