ساختاری جدید از ربات سیار چرخ‌دار چندحالته با کنترل ارتفاع در سطوح ناهموار

نوع مقاله : مقاله کوتاه

نویسندگان

1 دانشگاه صنعتی شاهرود

2 شاهرود

چکیده

در این مقاله، توانایی حرکتی ربات سیار چرخ‌دار با فراهم آوردن ساختاری نوین افزایش می‌یابد. ساختار چندحالتۀ پیشنهادی با توجه به طراحی خاص، توانایی تبدیل ربات دوچرخ به چهار چرخ را دارد. این طراحی توانایی حرکت همزمان بدنۀ ربات و جابهجایی بازو را هنگام حرکت در سطح ناهموار دارد. برخلاف اغلب ربات‌های سیار، ربات بدون استفاده از بازوان مدولار متصل به بدنه، قابلیت یک بازوی رباتیکی را در محور میانی دارد. این نقطه به‌عنوان مجری نهایی در محل یک مفصل غیرفعال است. از اینرو میتواند حامل تجهیزات هدایت و بینایی ربات سیار باشد و بدون موتور محرکۀ جدید از فرمان های کنترل ارتفاع پیروی ‌کند. این طراحی خلاقانه و ساده میتواند عملکرد قابل قبولی را تضمین کند. در پایان، ویژگی‌ حرکتی ربات در مسیرهای مختلف برای پنجه، روی سطوح ناهموار شبیه سازی می‌گردد.

کلیدواژه‌ها

عنوان مقاله [English]

Multimode wheeled mobile robot with height control on uneven surfaces

نویسندگان [English]

  • mahdi bamdad 1
  • Arman Mardani 2
1 Shahrood
2 -
چکیده [English]

In this paper, the motion capability of wheeled mobile robot is increased by providing a new structure. Due to the special design, converting a two-wheeled robot to a four-wheeled robot is possible in the proposed multi-mode robot. This design has the ability to simultaneously and interchangeably provide locomotion and manipulation capability in motion on uneven terrain. Unlike most other mobile robot designs that have a separate manipulator arm module attached on top of the mobile platform, the central axis in this design can manipulate like a robotic arm. The robot midpoint as an end-effector is a passive joint. The part which could carry the guidance and visual equipments follows the height control, easily and without a new actuator. The basic requirement of stability and acceptable performance could be guaranteed through this simple, novel design. Finally, the simulation is used to study the robot’s enhanced mobility characteristics through animations of different trajectories for end-effector on uneven terrain.

کلیدواژه‌ها [English]

  • Mobile Robot
  • Multimode
  • Locomotion
  • Height control

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