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Macro-robots are outmaneuvered by mini-robots in Another consideration was seen in DARPA robot
autonomous Reconnaissance in confined spaces. Mini- research, using a prismatic joint by helical gear
robots are useful in concealed missions or search mechanism mounted on a shaft driven be motor,
operations. Redundancy was given in exploratory connected with other two racks and pinion. (Jizhong
missions by large groups of tiny robots. To perform insect Xiao’, 2001). But this method need more spacing than we
inspired research, tiny robots are suitable because they have and also caused a lot of additional weight. This
communicate with the surroundings at equivalent scale as method remain quite popular in proceeding years as used
big insects. in other miniature climbing robots, (Hans Dulimarta,
2002)
There were many constraints such as external power
supplies, excessive weight, small wheels and many more In Rudycudy™, two axles were used. The mechanism
which limit the mobility of these existing small robots. selected for transmitting motors power to these axles to
The most important constraint was how to transmit power make the robot move was through chain drive
from motor to the wheels of robot, so that it moved mechanism. The major advantage of this design was that
efficiently. Insects deal with the similar scale matters such it used single motor for driving purpose, whenever any
as small robots, so inspiration for greater mobility could spoked wheel-leg of robot was under slip due to the
be drawn from them. surface on which it was moving all the power was
transferred to the remaining spoked wheel-legs which
2. Earlier Endeavors were not under slip [7].
The most former of all machine elements were the Chain 1. High production cost.
Drives. Chains normally have lesser weight as compared 2. Careful maintenance and accurate mounting is
to their counterparts such as gear drives or belt drives [8]. required.
Slip might occur on belt and rope drives but chains are
3. Excessive stretching could cause variation in
used to prevent slipping. Many stiff links are used to
make chain; these links are connected through pin joints velocity.
to allow required flexibility for rolling around the driven
and driving wheels. Special profile teeth are protruded on 4. Why Chain Drive
these wheels. Teeth met matching recesses present in
chain links. Therefore, chain and sprocket are restricted to There are large numbers of advantages of chain drive
proceed together in the absence of slip with hone velocity system as compared to its disadvantages. These
ratio. Figure 1 shows the chain drive mechanism. advantages made it to be a strong candidate for its use in
RUDYCUDY™.
Figure 1: Chain Drive Mechanism There were several types of chains available, after
When power and motion are to be transferred over a short literature survey it was observed that roller chain would
distance between the shafts, chains are used. For example be the most optimum solution for this problem.
in rolling mills, motor cycles conveyors etc. Chains could
also be used when centre distance between the shafts are 5. Chain Design
as long as eight meters.
So far Rudy Cudy is concerned various factors were
2.1 Advantages and Disadvantages considered while designing process was under
consideration. As the robot was a mini-robot, its chain
Some of the advantages of chain drive over belt or rope drive system would obviously be much smaller than its
drive are [9]: own size. So, the first and very important consideration
was to make mechanism as small as possible. The
Advantages thickness or height of robot was the initial constraint; the
mechanism was designed with its dimensions less than the
1. In chain drive slip is zero, so exact velocity ratio robots thickness. Another important issue which was kept
is achieved. in mind was the smaller size of chain drive mechanism, it
2. Mostly metal chains are used, hence in width should be miniaturized to the extent so that it could be
manufactured from locally available resources in other
very less space is occupied as compared to rope
words any special machinery or process should be
or belt drive. avoided which was not available in the local market.
3. It is used for short as well as long distances.
4. Its transmission efficiency is as high as 98 Chain Drive mechanism constitutes two sprockets, one is
percent. called driver and the other is called driven, and a chain.
5. Fewer loads are exerted on shaft by chain drive. Chain itself constitutes various links and each link is
6. One chain could transfer motion to several formed by joining roller, plates and pin.
shafts.
5.1 Design Calculations
7. More power is transferred.
8. In one step high speed ratios of 8 to 10 could be The design proceeded from two known values, one was
achieved. motor RPM i.e. driver’s RPM, and second was robots
9. It might be used in adverse atmospheric and speed i.e. driven speed in RPM.
temperature conditions.
As the velocity ratio and number of teeth on one sprocket Tooth profile was designed according to Indian Standards.
were known, the number of teeth on the other sprocket Initially tooth height above pitch polygon was calculated
could easily be determined using equation 1: from known values.