Examining the Kinematics of the ANDROS F6A Robot
Presented by:Heather G. DemisEML 6281
Objectives
Description of the ANDROS F6A RobotMissions/Capabilities
Forward Kinematic Analysis
Closed Loop Parameters
Reverse Kinematics Analysis
Lessons Learned
ANDROS F6A Robot
Possible MissionsExplosive Ordnance Disposal (EOD)
Hazardous Material Applications
Law Enforcement
Surveillance
Security
Specifications
Weighs 485lbs with a height of 56.5 and width of 29
Multiple color cameras with full 360 degree continuous pan and
180 degree tilt
Audio system with recording capabilities
Pressure Grip of 50lbs and lifts up to 65lbs
Articulated tracks and quick release wheels
Transverse 45 degree slopes through loose sand, gravel and
mud
Speeds up to 3.5mph
Forward Kinematic Analysis: Labeling
Indicates going into the page
S1, ZFS3S4S5S6a12a23a34a45a56,outS2
Indicates going into the page
S1, ZF
S3
S4
S5
S6
a12
a23
a34
a45
a56,out
Forward Kinematic Analysis
Kinematic MechanismRRRRPR: 5R-1P
RRRRC: 4R-1C
6 DOF
S2, S3, and S4 are Parallel
S5 and S6 are co-linear
S1. ZF
S2, into
S3, into
S4, into
a12
a23
a34
a45
YF
XF
S6
a56,out
R
R
R
R
P
S5
Complied Data and Closed Loop Parameters
Reverse Kinematic Analysis
Closed systemRRRRPRR: 6R-1P
Group 3 Mechanism
Spherical Heptagon
Equivalent systemSpherical Pentagon
Knowns and Unknowns
Knowns:12, 23, 34, 45, 56, 67, 71
a12, a23, a34, a45, a56, a67, a71
S1, S2, S3, S4, 5, S6, S7, 7
Unknowns:1, 2, 3, 4, 6, S5
Solved by VLE, Tan-Half Angle Solutions and Law of Cosines
Unknowns
First Solved for: 1 and found 1A and 1B
Next Solved for: 6 using Z34=Z1 -->Z56=Z1Found 6A, 6B, 6C,
6D
Next Solved for: 3 using VLE w/ projections onto a12 and S1;
Found 8 possible solutions
Next Solved for: 2 utilized early eqns from 6Found 8 possible
solutions
Next Solved for: 4 using fundamental equations: s4=-X67123;
c4=-Y67123Found 8 possible solutions
Next Solved for: S5 using VLE -->1 eqn and 1 unknown
Lessons Learned/Conclusion
Be at Campus
Equivalent Spherical Mechanism:Heptagon to Pentagon
Using the spherical pentagon to create equivalent fundamental
formulas Reduced workload
Reduced complexity of algebra required
Questions?
