Is this project an undergraduate, graduate, or faculty project?
Undergraduate
Project Type
individual
Campus
Daytona Beach
Authors' Class Standing
Deanna Paladino, Junior
Lead Presenter's Name
Deanna Paladino
Lead Presenter's College
DB College of Engineering
Faculty Mentor Name
Cagri Kilic
Abstract
The pushability of a robot is useful for manipulating and maneuvering objects that are too large or heavy to grasp. This research presents an analytical and conceptual based study comparing different robotic pushing mechanisms for varying environments and object types. We focus on non-prehensile pushing on an inclined surface, assuming that the robot's base remains stable (no slipping) and the object experiences purely translational motion (no tipping). This research examines the robots ability to effectively move an object through non-prehensile pushing. Many factors are considered when determining which robotic pushing solution works best for a given environment, such as efficiency, applied forces, gravitational forces, frictional forces, and robot stability. In this research the pushability of a robot with one arm and two arms is investigated on an inclined surface with varying angles of inclination. A quasi-static analytical framework is developed to simulate the pushing dynamics of each robot under different conditions. Lastly, by analyzing the performance of robots with one arm versus two arms, this study aims to provide insights into optimal robotic pushing solutions for inclined surfaces.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, Collaborative, Climbing, or Ignite Grants) from the Office of Undergraduate Research?
No
Robotic Pushing Solutions Based on Surface Type and Object Characteristics
The pushability of a robot is useful for manipulating and maneuvering objects that are too large or heavy to grasp. This research presents an analytical and conceptual based study comparing different robotic pushing mechanisms for varying environments and object types. We focus on non-prehensile pushing on an inclined surface, assuming that the robot's base remains stable (no slipping) and the object experiences purely translational motion (no tipping). This research examines the robots ability to effectively move an object through non-prehensile pushing. Many factors are considered when determining which robotic pushing solution works best for a given environment, such as efficiency, applied forces, gravitational forces, frictional forces, and robot stability. In this research the pushability of a robot with one arm and two arms is investigated on an inclined surface with varying angles of inclination. A quasi-static analytical framework is developed to simulate the pushing dynamics of each robot under different conditions. Lastly, by analyzing the performance of robots with one arm versus two arms, this study aims to provide insights into optimal robotic pushing solutions for inclined surfaces.