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.

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.

An In-Pipe Mobile Robot for Use as an Industrial Endoscope Based on an Earthworm’s Peristaltic Crawling

2012 ◽  
Vol 24 (6) ◽  
pp. 1054-1062 ◽  
Author(s):  
Shota Horii ◽  
◽  
Taro Nakamura
Keyword(s):  
Mobile Robot ◽  
Motion Pattern ◽  
Pipe Inspection ◽  
Brushless Motors ◽  
Robot Locomotion ◽  
Propulsion Force ◽  
Locomotion Speed ◽  
Inner Diameter ◽  
Pass Through ◽  
Inspection Robots

Many pipe accidents caused by corrosion or deterioration have been reported recently; hence, in-pipe inspection is needed to prevent such problems. Fiberscopes are currently used as industrial endoscopes to inspect defects in pipes. Because of friction, however, they cannot be inserted into pipes that are more than 15 m long or into complex pipes such as elbows. Therefore in-pipe inspection robots need to be selfpropelled in order to be inserted into these environments. We are developing a robot capable of propelling itself through various pipes, such as long pipes and elbow pipes, specifically, a peristaltic crawling robot using DC brushless motors for in-pipe inspection. In this study, the robot we developed was used in straight and elbow pipes with an inner diameter of 27 mm. In this paper, we derive theoretical formulas for robot locomotion speed and propulsion force and propose a special motion pattern, known as the middle motion pattern, for the robot’s peristaltic crawling pattern. We performed several experiments in a 27-mm-diameter acrylic pipe to examine the locomotion speed and propulsion force. We also developed a robot that can pass through an elbow and conducted several experiments to confirm this.

Artificial Higher Order Neural Networks for Modeling MIMO Discrete-Time Nonlinear System

2013 ◽  
pp. 30-43
Author(s):  
Michel Lopez-Franco ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Carlos Lopez-Franco
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Discrete Time ◽  
Higher Order ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Plant Model ◽  
Actuator Dynamics ◽  
Nonholonomic Mobile Robot ◽  
Higher Order Neural Networks

In this chapter, a Recurrent Higher Order Neural Network (RHONN) is used to identify the plant model of discrete time nonlinear systems, under the assumption that all the state is available for measurement. Then the Extended Kalman Filter (EKF) is used to train the RHONN. The applicability of this scheme is illustrated by identification for an electrically driven nonholonomic mobile robot. Traditionally, modeling of mobile robots only considers its kinematics. It has been well known that the actuator dynamics is an important part of the design of the complete robot dynamics. However, most of the reported results in literature do not consider all parametric uncertainties for mobile robots at the actuator level. This is due to the modeling problem becoming extremely difficult as the complexity of the system dynamics increases, and the mobile robot model includes the uncertainties of the actuator dynamics as well as the uncertainties of the robot kinematics and dynamics.

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 449-467 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S Dai
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Dynamic Surface ◽  
Stabilizing Controller ◽  
Nonholonomic Mobile Robot ◽  
Surface Control

SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

Mobile Inspection Robot

2013 ◽  
Vol 319 ◽  
pp. 385-392 ◽  
Author(s):  
Michał Ciszewski ◽  
Tomasz Buratowski ◽  
Mariusz Giergiel ◽  
Krzysztof Kurc ◽  
Piotr Małka
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Cross Section ◽  
Design Process ◽  
Laboratory Tests ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Positioning System ◽  
Pipe Inspection ◽  
Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.

Visual Estimation of the Reconfigurable Mobile Robot Locomotion Effectiveness

2018 ◽  
Vol 19 (3) ◽  
pp. 169-174
Author(s):  
S. V. Kharuzin ◽  
◽  
O. A. Shmakov ◽  
Keyword(s):  
Mobile Robot ◽  
Visual Estimation ◽  
Robot Locomotion

Development of the Intelligent Mobile Robot for Service Use Report 1: Environmental-Adjustable Autonomous Locomotion Control System

1997 ◽  
Vol 9 (4) ◽  
pp. 275-282
Author(s):  
Takayuki Tanaka ◽  
◽  
Kazuo Yamafuji ◽  
Hidenori Takahashi
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Fuzzy Neural Network ◽  
Service Use ◽  
Membership Functions ◽  
Human Beings ◽  
Locomotion Control ◽  
Office Environment ◽  
Robot Locomotion ◽  
Fuzzy Neural

We have developed an intelligent mobile robot for use as an office “secretary/ helper” by day and “security maintenance guard” by night. The robot’s autonomous locomotion control system (ALCS) plans its paths, recognizes absolute positions and learns navigation control. To aid the robot in moving more appropriately and smoothly among human beings and obstacles in an office environment, we studied learning by a fuzzy neural network that tunes membership functions for fuzzy locomotion control, i.e., the intelligent robot learns to move autonomously through its surroundings. Results obtained by computer simulation show the proposed method is useful in autonomous robot locomotion control.

Gait synthesis for hexapod robots with a locked joint failure

Robotica ◽  
2005 ◽  
Vol 23 (6) ◽  
pp. 701-708 ◽  
Author(s):  
Jung-Min Yang
Keyword(s):  
Fault Tolerant ◽  
Static Stability ◽  
Walking Robots ◽  
Robot Kinematics ◽  
Hexapod Robot ◽  
Joint Failure ◽  
Straight Line ◽  
Gait Synthesis ◽  
Gait Study

This paper presents a strategy for generating fault-tolerant gaits of hexapod walking robots. A multi-legged robot is considered to be fault-tolerant with respect to a given failure if it is capable of continuing its walking after the occurrence of a failure, maintaining its static stability. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. The kinematic condition for the existence of fault-tolerant gaits is derived for straight-line walking of a hexapod robot on even terrain. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the stride length formula are analytically driven based on gait study and robot kinematics. A case study on post-failure walking of a hexapod robot with the wave gait is shown to demonstrate the applicability of the proposed method.

Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots

2001 ◽  
Author(s):  
Jenelle Armstrong Piepmeier ◽  
Peter A. Morgan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Newton Method ◽  
Camera Calibration ◽  
Visual Feedback ◽  
Robot Kinematics ◽  
Moving Target ◽  
Controllable System ◽  
Wheeled Mobile Robots ◽  
Quasi Newton

Abstract An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.

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