Papers by Keyword: Mobile Robot

Abstract: The structural synthesis of bi-mobile mechanisms has some particularities. The effector of such systems must have the motion dependent on two independent parameters, the selection of the basis and the effector in the linkage being made through the inverse structural model. The active pair placement in the linkage is imposed by the conditions settled to the system by its direct structural model. Due to the theoretical difficulties of mathematical models the passive complex modules with six links are rarely met in construction and design of mechanisms. The relevance of the paper is given by the possibility to create new original structures applying six links passive modular groups.

Abstract: The paper deals with the structural synthesis of bi-mobile mechanisms based on six links passive modular groups and used in robotics and other industrial equipment [1]. Such mechanisms are useful in any practical situation when a suitable curve is necessary to be described in manufacturing processes. Even if the passive complex modules with six links are mentioned in the literature these are rarely encountered in construction of mechanisms and in design due to the difficulties to achieve their mathematical models.

Abstract: This paper presents the implementation and the tuning of PID controller for a mobile platform with differential steering. It presents a mobile platform built in the Department of Industrial Machinery & Equipment, of the Engineering Faculty of Sibiu for an European contest. In a first phase, a brief introduction to PID controller is made, followed by a description of the various robot's components and traction principles underlying locomotion of mobile platforms. At the end the paper contains several principles of tuning the PID controller for the mobile robot.

Abstract: The follow paper explains the process design of the development of a mobile robotic vehicle which main purpose is to aid on task of exploration on the mining sector. The paper shows the whole process from the customer needs through the conceptual sketch to the definitive design. It also describes mathematical considerations for the selection of the motors for locomotion and steering. Followed by mechanical strength simulations in order to choose the right material and finally simulations of the behavior of the robotic vehicle suspension.

Abstract: The article is aimed at presenting the development of a kinematic model for the control of a mobile robot 6 wheel, all with both traction and rotation, the Ackerman model was chosen because the robot will move through paths designed for cars, and as it avoids slipping. Two models of simulation in MATLAB, one in continuous and one discrete space are also presented

Abstract: This paper presents the mathematical and structural model as well as the verificationof a designed and built underwater crawler robot. The underwater crawler robot is designed to inspect elements of the water supply infrastructure, including pools, reservoirs and pipelines with round or square cross-sections. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage. The mathematical model was used for a number of simulations and subjected to verification on a real object in two test environments.

Abstract: This article describes the process of the development of trajectory accuracy testing and the course of modifications of an omnidirectional mobile robot Odin. It also chronologically presents connections between individual phases of developing its construction, electrical wiring, and control software. The first implemented prototype has presented a simple construction and drive control. This laid basis for designing the omnidirectional mobile robot Odin with an installed modular manipulator Schunk. Modifications in the drive control led to better results in the tests. In conclusion, the article describes and compares the acquired test results for various modes of chassis control.

Abstract: The paper deals with the design of the simulation model of a wheel chassis with improved ability to cross a rugged terrain, which is to move across rugged terrain. One of the first steps taken was to propose the solution and its further improvement. In order to complete final simulation model, we carried out several simulations and resistance analysis confirming the advantage of the selected structure and mobility of the chassis.

Abstract: In this study, modified genetic algorithm (MGA) and A* search method (A*) is proposed for optimal motion planning of mobile robots. MGA utilizes the classical search and modified A* to establish a sub-optimal collision-free path as initial solution in simple and complex static environment. The enhancements for the proposed approach are presented in initialization stage and enhanced operators. Five objective functions are used to minimize traveling length, time, smoothness, security and trajectory and to reduce the energy consumption for mobile robots by using Cubic Spline interpolation curve fitting for optimal planned path. The purpose of this study is to evaluate the proposed approach performance by taking into consideration the effect of changing the number of iteration (it) and the size of population (pop) on its performance index. The simulation results show the effectiveness of proposed approach in governing the robot’s movements successfully from start to goal point after avoiding all obstacles its way in all tested environment. In addition, the results indicate that the proposed approach can find the optimal solution efficiently in a single run. This approach has been carried out by GUI using a popular engineering programming language, MATLAB.

Abstract: This paper presents a new mechanical design of mobile robot which can travel in the condition of continuous varying environment, such as colon of human body. Especially, the human colon environment contains an intense diameter change. The suggested mechanical design is capable to adapt in wide diameter changing system by generating two basic motions, rotational and linear motion, with a single actuator. Prototypes is fabricated, and tested result is presented in this paper. Also, experimental result is compared with the mathematical model of the mechanism to verify the feasibility of the proposed mechanism.