@phdthesis{oai:kyutech.repo.nii.ac.jp:00000227,
 author = {Nassiraei, Amir Ali Forough},
 month = {2007-12-03},
 note = {1 Introduction||2 Mechanics & Intelligence||3 Soccer Robot||4 Artistic Robot||5 Sewer Pipe Inspection Robot||6 Conclusion, During the 21st century, it is expected that the robots with different degrees of autonomy and mobility will play an increasingly important role in all side of human life. Thus these kinds of robots will become much more complex than today, and the development of such robots present a great challenge for researchers. However, drawbacks of robot complexity, necessity of more complex hardware, software and mechanical structure may lead to low reliability and increasing of size, weight, cost, power consumption and motion limitation. In order to avoid the problems mentioned above, the simplification of robots mechatronics will be a critical point in their design. In this thesis, the concept of “Intelligent Mechanical Design” will be presented and how a mechanical structure can be designed to have an effect to the robot controllability, simplification and its tasks performance is discussed. The description of this concept will lead us to establish the landmarks of the territory of mechanical designing in the form of seven design principles. The design principles, named “Mecha-telligence principles”, provide a guidance on how to design autonomous mobile robots mechanics. These principles guide us in asking the right questions when investigating issues concerning a self-controllable, reliable, realizable, and compatible mechanics for autonomous mobile robots. To show how the “Mcaha-telligence principles” can be applied on the processes of the design of robots mechanics, we proposed a novel methodology, named "Mecha-telligence methodology”. Mechanical design in the proposed methodology is performed based on preference of classification of the robot specification described by interaction of the robot with its environment and, also, the physical parameters of the robot mechatronics itself. In this approach the robot specification is classified to a set of high-level- and low-level-specification which can be expressed as tasks and physical parameters of the robot, respectively. A main goal in these analyzing process of the robot specification, is that, figuring out to a Mono-spec layer (the last layer of low-level-specification) including a simple basic function or selecting a sensor for a single task or behavior. The process of mechanical design will be started based on an important defined robot mono-spec, and then will be proceeded to realize the other mono-specs by adding the minimum actuator(s) and sensor(s). In each step of the mechanical design in this methodology, the proper and sufficient mechanics will be achieved by considering the robot tasks, behaviors, morphology, and by applying the description of environmental and physical-morphological constraints on the design process. To prove the validity of the proposed method we concentrate on developing of the mechanical structures and devices of three types of autonomous mobile robots used in the three different educational, entertainment and industrial applications. The first project is on developing an autonomous mobile soccer robot, “Musashi robot”, which has a fully mechatronics modular architecture including a strong ball-kicking device with capability of lifting a ball and a ball-holding mechanism, aiming at getting champion in RoboCup Midsize League. The second challenge is on the design, modeling, simulation and implementation of a series of entertainment robots, named "Jumping Joe"s, with capabilities of the fast waking up, jumping, and somersault actions, exhibited in Aichi Exposition 2005. In third project we propose a new approach to the sewer pipe inspection by developing a fully autonomous mobile robot “KANTARO”. Cooperation in this national funding project, is our third challenge item in mechanical design to compromise how a passive-active intelligent moving mechanism can be employed as a robot platform for inspecting the real sewer pipe network. In these three projects we describe, not only, the mechanical design process based on “mecha-telligence design” methodology, but also, the detail design which is considered to lead readers to get familiar as much as possible to our vision relative to the presented design methodology., 九州工業大学博士学位論文 学位記番号：生工博甲第51号 学位授与年月日：平成19年3月23日, 平成18年度},
 school = {九州工業大学},
 title = {Concept of Intelligent Mechanical Design for Autonomous Mobile Robots},
 year = {}
}