Recon Outdoors Talon IR Spécifications télécharger pdf (Page 33)

Background

2.3 EXISTING PLATFORM

Evaluation of commercially available platforms (section 2.2) reveals how unsuitable

they are for fulfilling the research purposes of this project. A low cost, medium scaled

track-based platform was required that could negotiate rough terrain and provide a

base for further research into outdoor robotics. The limiting factor with most of the

systems evaluated was the high cost and limited payload capacity. These factors

formed the motivation behind the design and construction of a custom unit.

The existing mechanical platform (Cordes, 2002), is that of a track-laying mechatron

incorporating differential skid-style steering (section 2.3.2) similar to a tank or

bulldozer. This configuration provides a high level of stability and manoeuvrability

particularly suited to uneven terrain. A solid steel chassis construction ensures the

mechatron is sufficiently robust to cope with the irregularities of an outdoor

environment and provide the strength for a substantial payload capacity.

Figure 2.8 Existing robot platform at project onset

The track design incorporates dynamic tensioning and a bogie mechanism to allow the

tracks to contour to the terrain. A payload capacity of over 100 kg enables the

addition of a wide range of manipulators and instrumentation to be added depending

on the application. A top mounted steel frame is used to attach a robotic arm or

similar appendage depending on the required task. The robot in its original state at the

onset of this project is shown in Figure 2.8.

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Recon Outdoors Talon IR Spécifications Page 33