scholarly journals Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism

2020 ◽  
Vol 6 (1) ◽  
pp. 54-71
Author(s):  
Vitaliy Korendiy ◽  
◽  
Roman Zinko ◽  
Vasyl Lozynskyy ◽  
Oleksandr Havrylchenko ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Harmful Effect ◽  
Soil Surface ◽  
Degree Of Freedom ◽  
Pneumatic System ◽  
Energy Sources ◽  
Motion Speed ◽  
Turning Mechanism ◽  
Electric Heat ◽  
Mathcad Software

Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.

scholarly journals Modelling and simulation of pneumatic system operation of mobile robot

2020 ◽  
Vol 6 (2) ◽  
pp. 1-11
Author(s):  
Vitaliy Korendiy ◽  
◽  
Oleksandr Kachur ◽  
Oleksandr Havrylchenko ◽  
Vasyl Lozynskyy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Pneumatic System ◽  
Walking Robots ◽  
Robot Kinematics ◽  
Robot Locomotion ◽  
Operational Characteristics ◽  
Turning Mechanism ◽  
Locomotion Speed ◽  
Improved Design ◽  
Mathcad Software

Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.

A reconfigurable tri-prism mobile robot with eight modes

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1454-1476 ◽  
Author(s):  
Jieyu Wang ◽  
Yan'an Yao ◽  
Xianwen Kong
Keyword(s):  
Mobile Robot ◽  
3D Model ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Biped Robots ◽  
Wheeled Robots ◽  
Motion Mode ◽  
Kinematic Properties

SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.

Design and operation of a 2-DOF leg–wheel hybrid robot

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1319-1325 ◽  
Author(s):  
Erika Ottaviano ◽  
Pierluigi Rea
Keyword(s):  
Mobile Robot ◽  
Low Cost ◽  
Experimental Tests ◽  
Degree Of Freedom

SUMMARYIn this paper the design and operation for a 2-Degree-of-Freedom, leg–wheel hybrid mobile robot are presented. A prototype of a low-cost and easy-to-use system, which is capable of straight walking and steering with two actuators only, has been designed and built. Simulation and experimental tests have been carried out to verify the engineering feasibility and operation of the proposed solution. The designed robot can be used for applications such as surveillance and inspection of disaster sites.

Develop a Vision Based Auto-Recharging System for Mobile Robots

2010 ◽  
Vol 44-47 ◽  
pp. 1340-1344 ◽  
Author(s):  
Kuo Lan Su ◽  
Yung Chin Lin ◽  
Yi Lin Liao ◽  
J. Hung Guo
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Control Device ◽  
Degree Of Freedom ◽  
Usb Interface ◽  
Compression Spring ◽  
Real Time Image ◽  
Wireless Rf Interface ◽  
Time Image

The article develops a vision based auto-recharging system for mobile robots, and programs a new docking processing to enhance successful rate. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger and a detection device and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a control system and a camera. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. The active degree of freedom can move forward to contact the recharging connect points that are arranged in the mobile robot. The two passive degrees of freedom can rotation in the Z-axis and use compression spring moving on various docking condition. In image processing, the mobile robot uses a webcam to capture the real-time image; and transmits the image signal to the computer via USB interface, and uses Otsu algorithm to recognize the position of the docking station. In the experiment results, the system had been successfully guided the mobile robot moving to the docking station using the proposed method.

scholarly journals Analysis of technical and operational characteristics of turning-and-shunting door opening mechanism of electric public transport

2019 ◽  
Vol 29 (3) ◽  
pp. 89-95
Author(s):  
V. M. Korendiy ◽  
O. Yо. Kotsiumbas ◽  
O. V. Lanets
Keyword(s):  
Public Transport ◽  
Kinematic Analysis ◽  
Effective Control ◽  
Resistance Force ◽  
Pneumatic Actuators ◽  
Door Opening ◽  
Applied Software ◽  
Operational Characteristics ◽  
Motion Speed ◽  
Mathcad Software

One of the most important problems occurring while designing public transport vehicles consists in providing an effective control of the door opening systems. The methods of carrying out the investigations presented in the paper include structural and kinematic analysis of the door opening mechanisms and simulation of their operation in applied software. The paper analyses the design and operational peculiarities of the turning-and-shunting mechanism of door opening of electric public transport. The corresponding design of the mechanism is proposed. It is suggested to be driven by pneumatic drive. The simplified diagram of the mechanism is constructed. Structural and kinematic analysis of the mechanism is performed, and the analytical dependencies for describing the motion of its links during the door opening/closing are derived. The main kinematic parameters of the studied mechanism are investigated on the basis of the derived analytical dependencies in MathCAD software, as well as by means of simulating the motion of the solid-state model of the mechanism designed in SolidWorks software. The conclusions about the agreement of the results of theoretical investigations performed on the basis of numerical solving the obtained motion equations and of the virtual experiment (motion simulation in SolidWorks software) are drawn. The analysis of energy efficiency of the investigated turning-and-shunting door opening mechanism of electric public transport is carried out. Prescribing the resistance force acting on the door leaf and calculating the corresponding door motion speed during its closing, the dependency of the nominal power supply of the mechanism drive as a function of corresponding generalized coordinates was deduced. Analyzing the obtained results, the authors have established that the necessary nominal power of the turning-and-shunting mechanism drive is almost twice larger than the necessary nominal power of the widely used leaning-and-shunting mechanism. Further investigations on the subject of the paper can be performed in the direction of developing different control systems providing safe and reliable operation of the considered door opening mechanism driven be electric and pneumatic actuators.

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