Modeling and Assessing of Self-Reconfigurable Cleaning Robot hTetro Based on Energy Consumption

Abdullah Aamir Hayat, Parasuraman Karthikeyan, Manuel Vega-Heredia and Mohan Rajesh Elara
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Abdullah Aamir Hayat: Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore
Parasuraman Karthikeyan: Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore
Manuel Vega-Heredia: Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore
Mohan Rajesh Elara: Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore

Energies, 2019, vol. 12, issue 21, 1-19

Abstract: The autonomous floor-cleaning self-reconfigurable robots have entered into the practical stage by establishing enhanced area coverage over the fixed morphology counterparts. Energy consumption during the self-reconfiguration, i.e., changing the shape of the robot from one form to another, becomes a primary focus in these robots that carry finite energy sources. In this paper, hTetro platform with two hinge dissections namely, Left–Left–Left (LLL) and Left–Left–Right (LLR) are modeled and assessed for the energy consumption during the reconfiguration. The geometry of the two dissections, its workspaces, and the set of inverse kinematics solutions for the seven forms are presented. The inverse dynamics using the Newton–Euler approach was adopted to calculate the wrench, i.e., forces and moments at the hinge joints, and subsequently assess the power consumed during the reconfigurations of two hinge dissections in the simulation. Extensive experiments were performed across the two assembled platforms to estimate the power consumption by logging the current data. The comparison was made with the simulation results. The results are particularly useful in the selection of reconfiguration with minimal energy consumption during the floor cleaning.

Keywords: hTetro; reconfigurable robot; workspace; dynamic modeling; power consumption (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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