Especially in historically developed cities, the steadily growing volume of goods traffic within urban areas is often confronted with infrastructural limitations that restrict the use of motor vehicles as primary transport systems. And although a large number of goods are fairly small in size and are transported over short distances, it has not yet been possible to establish alternative transport systems, such as cargo bikes. In many applications, this existing gap can be closed by autonomous robots that primarily use pavements as traffic space. For unrestricted operation, however, they must also be able to operate in non-barrier-free environments and thus require a special design of the locomotion systems. While a wide variety of walking, tracked and wheeled robots are already being tested in urban goods transport and robotics, especially in extra terrestrial exploration, a holistic approach for urban applications has not yet been taken. Accordingly, the aim of this work is to develop a methodical approach that enables an evaluation of different locomotion systems in non-barrier-free urban environments on the basis of quantitative data. The methodical approach is centred around multi-body simulations, which are used to analyse the locomotion systems within a course of typical urban obstacles. The systems to be evaluated are initially brought to a consistent level of quality by performing a sensitivity analysis with subsequent optimisation of the parameters. The required input for the simulation are taken from individually created CAD package models, while the evaluation of the systems is carried out on the basis of the selected use cases and the requirements determined and weighted from them. With the application of this approach, a new type of six-wheeled 2-bogie chassis with torsion springs as passive actuators, which has not yet been documented in the literature, has been developed. Within the simulations and in comparison with a large number of researched systems, it represents the best combination of functional and economic factors. In the subsequent technical testing with the prototypically built 2 bogie, the simulation results were confirmed and the methodological procedure was validated. The presented methodical procedure is therefore suitable for comparing and designing robotic locomotion systems on the basis of urban use cases defined within the beginning of the process. It allows for an efficient system selection within a set solution space for a potential future product development.
Konzeption robotischer Fortbewegungssysteme für nicht-barrierefreie urbane Räume
Design of robotic locomotion systems for non-barrier-free urban environments
01.01.2024
1 Online-Ressource : Illustrationen pages
Dissertation, RWTH Aachen University, 2023; Aachen : ika, Schriftenreihe Automobiltechnik 24, 1 Online-Ressource : Illustrationen (2024). = Dissertation, RWTH Aachen University, 2023
Sonstige
Elektronische Ressource
Deutsch
Integration von Regenwasserbehandlungsanlagen in urbane Räume
HENRY – Bundesanstalt für Wasserbau (BAW) | 2023
|Barrierefreie höhengleiche Reisendenübergänge
IuD Bahn | 2007
|