Shrimp Structure Rover Robot

Project Title

Shrimp Structure Rover Robot

Project Area of Specialization RoboticsProject Summary

The Shrimp structure rover robot is highly suitable for planetary exploration missions because of its unconventional wheel order, in- built passive adaptability and good ability to climb obstacles.  It is a spatial multi- body system and a multi-variable, multi-parameter coupled non-linear system. Thus, kinematic and dynamic analyses for such systems are complex and time consuming. To cope with this challenge, we propose a novel wheeled mobile robot for unstructured environment based on existing shrimp rovers. It can climb over the obstacles on power cables thanks to its special mechanical structure and the balance slide which makes the robot keep balance constantly.

Project Objectives

The main objectives of this projects is to design and construct a Shrimp, an innovative long- range rover architecture. Using a rhombus configuration, the rover has a steering wheel in both, the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized by synchronizing the steering of the front and rear wheel and the speed difference of the bogie wheels. This allows for high precision maneuvers and even turning on the spot with minimum slip.

Project Implementation Method

When we talk about how to move robot locomotion the study is vital, basically considerations on the characteristics of locomotion mechanisms that must be made for the implementation of a robot are:

1.  Walkability
2.  Maneuverability.
3. Terrenobrabilidad.

The solid modeling of the rover will be done in CATIA  V5. The CAD model of the full rover will be then imported into RecurDyn /Professional environment using STEP file format. As, the STEP file does not  contain any information about the kinematic constraints  present in the rover assembly.  Hence, mechanical joints  in the form of kinematic constraints are defined in  RecurDyn /Professional environment.. Structured terrains involving slopes, steps concave &  convex surfaces will be modeled to evaluate the rover’s  performance .To make the contact of rover wheels with  the road, surface to surface contacts will also be redefined  between the road surface and wheel surface. These  surface contacts constrain the wheels to make a contact  with road whenever possible.

Benefits of the Project

Benefits

1. Discovering areas potentially not accessible by stationary landers because of technical constraints,
2. Exploring areas further remote from, or along stretches between, stationary landers.
3.  Obtaining more detailed geographic and topographic information i.e images and videos.

Technical Details of Final Deliverable

Final deliverable

  A well-functioning   prototype   of   3.5   kg   Shrimp structure rover robot .

Final Deliverable of the Project HW/SW integrated systemType of Industry Petroleum , Agriculture , Transportation , Others , Security , Telecommunication Technologies Artificial Intelligence(AI), Robotics, OthersSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	51180
Arduino Mega	Equipment	1	950	950
Arduino UNO	Equipment	1	700	700
Arduino nano	Equipment	1	500	500
Wireless Module	Equipment	2	850	1700
IP Camera	Equipment	1	5000	5000
Bearings	Equipment	16	50	800
DC Gear Motors	Equipment	7	500	3500
Ultrasonic Sensors	Equipment	2	200	400
Jumpers Wires	Equipment	4	150	600
Motor Drivers	Equipment	6	250	1500
Battery Power Bank	Equipment	1	1200	1200
Protection Board	Equipment	1	230	230
Screws	Equipment	250	15	3750
LCD Display	Equipment	1	5000	5000
Power Supply	Equipment	1	2000	2000
Push Buttons	Equipment	15	50	750
Remote Module	Equipment	1	2000	2000
Mechanical Structure	Equipment	3	3200	9600
Tyres	Equipment	8	200	1600
Travels Cost	Miscellaneous	1	5000	5000
Prints Stationary	Miscellaneous	8	550	4400