Mobile Robot Concept Design Development

In May Robonine completed a first variation of the full robot design. We want to show, step by step, what we started from and what we finally achieved.

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Initial Requirements

• A 3D design concept needs to be created with consideration for the technical specifications of the structure.

• The model should be showcased in an environment – indoors, controlled by a person using a VR Oculus Quest 3.

• Source files must be provided.

Initial concept. Design provided by our engineer

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External Parameters

• Matte black color. Alternative color schemes may be considered: white, yellow.

• Frame dimensions: 350 mm to 400 mm × (1300 mm to 1400 mm, including wheel height).

• Operating format similar to a Segway.

• The view of the upper П-shaped frame from the front and back should be identical.

• A depth camera and LiDAR should be installed on the upper frame.

• LED strips should be installed on the side frames.

• LED strips should also be installed on the lower platform.

• Depth cameras (similar to Intel RealSense D405) should be mounted on the manipulators.

Sketch showing position of detectors

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Balancing Mechanism

The tail will be in a lowered position all the time and will have a straight shape resembling the letter П, with a roller at each end. The rollers are non-driven.

Balancing mechanism – Profile view

Balancing mechanism

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Wheels

Swiveling wheels, like in the image: 3-inch Small Industrial Caster Wheels – Alibaba

Robot back wheels

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Manipulators

• The manipulators extend to the full height of the pole.

• Height: 1300 mm

• Length: 650 mm

• The appendage on the second joint should be adjusted. The engineer will determine whether to remove or shift the structure inward.

Robot arm

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Design of the Gripper

Parallel gripper design

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Position of Manipulator Poles

• The poles should be turned at a 45-degree angle to ensure maximum reach.

• This angle provides as much working space as possible for the manipulators.

Main frame poles angle

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Top Sensors

• The depth camera should be able to rotate back and forth.

• Initially, we planned to use 3D LiDARs, so one was placed on top.

Top sensors

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Lower Wheel Motors

• Size: 8.5 inches

• 8.5-inch wheels for electric scooters – Uralelectronica

Front electric motor wheels

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First Version of the Robot's Main Frame

Front view

Profile view

Back view

In this version:

1. We decided to use a heavy back instead of an adaptive tail. Initially, we considered a water tank to provide ~20kg weight to compensate for the forward tipping moment when the arms are fully extended.

2. The designer used orange color to make the robot visible from a distance.

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Second Version of the Robot's Main Frame

Second version – Front view

Second version – Back view

Updates:

• Switched to black color, as tough engineering plastics are typically black.

• Flat surface on the back for users to place items.

• Instead of a water tank, we now use heavy-duty batteries to compensate for forward tipping.

• Front lights added on the mobile base.

• LiDAR and depth camera added at the top of the frame.

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Latest Version of the Concept Design (Not Final)

Robot V0 Design Concept – Front view

Robot V0 Design Concept – Back view

1. Designer added 2 manipulators.

2. Added back light.

3. Emergency stop button to prevent any extreme behavior. Like on a video:

4. Second LiDAR added.

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Notes

Final design will differ from the current version:

• We are currently working on compensating for motor backlash using a dual-servo design. The final arms will have a different design.

• Instead of 3D LiDARs, we will likely use a combination of 2D/1D LiDARs and ultrasonic distance sensors.