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Design and Construction of a Social Robot for Teaching Sign Language to Hearing Impaired Children (RASA). Part II: The Mobile Lower Body Platform and a Novel 6-bar Linkage Mechanism
Kashanian, Amir | 2017
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- Type of Document: M.Sc. Thesis
- Language: English
- Document No: 49933 (58)
- University: Sharif University of Technology, International Campus, Kish Island
- Department: Science and Engineering
- Advisor(s): Meghdari ,Ali; Alemi, Minoo
- Abstract:
- In this thesis, the purpose of the research was to develop a four-wheeled Mobile platform (Lower body) with three degrees of freedom for a humanoid robot upper body which is called RASA. RASA robot was designed and constructed for helping kids who have speech and hearing impairments. The objective was to develop a low-cost and affordable robot as compared to its international models to be used at home or school as a teacher assistant. RASA can help kids to learn signs as fast as possible due to the game-based and entertaining education system. The wheeled base platform consists of a new mechanism with 6 bar linkage for bending robot from the hip to about 60 degrees from a vertical position with only one degree of freedom while keeping the robot center of the gravity in the safe position for stability during bending motion. This platform uses two Brushless DC gear motors provided for moving the robot in the X-Y plane, and change the location and orientation of the robot. It can move around whenever needed with a determined linear velocity, acceleration, and deceleration. In this robot platform, there are some internal and external sensors used for environmental feedback and collision avoidance. Compass, encoder and ultrasonic sensors are the examples of these sensors. Obstacle avoidance and alarming systems have been placed on the robot to prevent it from bumping into any objects. An analog joystick (SCPH-10010) with seventeen buttons which are useful for any commands controls the base movement and the bending mechanism. Compass and ultrasonic rangefinder provide the automatic navigation to keep the robot in the safe range of obstacles and monitor the robot position, location, and orientation. This robot is designed to have acceptable maneuverability and stability. It also requires a suitable cover to be safe when interacting with kids at school or home
- Keywords:
- Social Robotics ; Wheeled Robot ; Human Robot Interaction (HRI) ; Humanoid Robot ; Mobile Platform ; Six Linkage Mechanism
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محتواي کتاب
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- Chapter 1
- Chapter 2
- Chapter 3
- 3.1 Literature Review on Mobile robot Platforms
- 3.1.1 ROBART I, II, III
- 3.1.2 Micro Robot Mice
- 3.1.3 Monarch Project
- 3.1.4 Child-Robot Interaction in The Wild: Advice to the Aspiring experimenter
- 3.1.5 Robot Nurse: Design and computer aided simulation of a nurse robot
- 3.1.6 FLO the Nursebot
- 3.1.7 Development of an Omnidirectional Mobile Robot with 3 DOF Decoupling Drive Mechanism
- 3.1.8 Development of a Two-Wheeled Inverted Pendulum Mobile Robot
- 3.1.9 Development of a Robot Balancing on a Ball
- 3.1.10 Multi-Modal Locomotion Robotic Platform Using Leg-Track-Wheel Articulations
- 3.1.11 OMNIDIRECTIONAL VEHICLE WITH OFFSET WHEEL PAIRS
- 3.1.12 Autonomous Pesticide Spraying Robot for use in a Greenhouse
- 3.1.13 Architectural Concepts of a Semi-Autonomous Wheelchair
- 3.1.14 Dav: A Humanoid Robot Platform for Autonomous Mental Development
- 3.1.15 DESIGN AND CONSTRUCTION OF AN AUTONOMOUS MOBILE SECURITY DEVICE
- 3.1.16 KINEMATIC ANALYSIS OF WHEELED MOBILE ROBOTS
- 3.1.17 Buddy Robot: (Blue Frog Robotics in Paris, France, and Boston, US)
- 3.1.18 Pepper Robot: (Aldebaran Robotics, France.)
- 3.1.19 Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator
- 3.1.20 Designing Omnidirectional Mobile Robot with Mecanum wheel
- 3.1.21 A mobile robot platform for assistance and entertainment
- 3.1.22 Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism
- 3.1.23 Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks
- 3.2 Literature Review on Social Robotics
- 3.2.1 The Social “WATERobot”: An Exciting Educational Tool for Teaching Children about Water Awareness and Conservation [32]
- 3.2.2 Social Robots and Teaching Music to Autistic Children: Myth or reality?
- 3.2.3 RASA: A Low-Cost Upper-Torso Social Robot Acting as a Sign Language Teaching Assistant
- 3.2.4 The Impact of Social Robotics on L2 Learners’ Anxiety and Attitude in English Vocabulary Acquisition [35]
- 3.1 Literature Review on Mobile robot Platforms
- Chapter 4
- 4.1 Mechanical Design Process
- 4.2 Solid modeling
- 4.3 Sensors
- 4.3.1 The absolute positioning system is used for obtaining the absolute robot position in this scheme. In this system, robot position is measured relative to a fixed frame. For example, GPS Sensor is used for getting information of robot position at ...
- 4.3.2 Relative positioning sensors are used for getting information about the distance between a robot and the objects around it. For instance, when this robot reaches to an obstacle, it will react towards the obstacle and return or turn to keep the s...
- 4.3.3 Communicating sensors are used for transferring information to other robots, microcontrollers, external computers, controller and such the same devices. For more clarification, some examples of these sensors are classified here.
- 4.3.4 Environmental sensors are used for collecting data from the surrounding area.
- 4.3.5 Internal sensors are used for internal measurement of the robot conditions, such as:
- 4.4 Power Supply
- 4.5 Voltage level
- 4.6 Actuators
- 4.7 Controller and motor drivers
- Chapter 5
- 5.1 Solid Modeling and Analysis of each Component
- 5.2 Prototype Construction and Assembly
- 5.3 Bill of Materials – Mechanical Components
- Chapter 6
- Chapter 7
- Chapter 8