Mechanism Design and Motion Simulation of Mobile Robot with Compound Motion Mode

2021 ◽  
Author(s):  
Yanan Shi ◽  
Yuwei Yang ◽  
Zhenzhong Liu ◽  
Haiming Zhang
Keyword(s):  
Mobile Robot ◽  
Mechanism Design ◽  
Motion Simulation ◽  
Motion Mode

Design and Simulation of a Variable Structure Mobile Robot

2013 ◽  
Vol 457-458 ◽  
pp. 672-676
Author(s):  
Zhang Jun Sun ◽  
Jing Long Yan ◽  
Chao Quan Li ◽  
Yue Ju Li ◽  
Chao Di
Keyword(s):  
Mobile Robot ◽  
Mechanism Design ◽  
Three Dimensional ◽  
Variable Structure ◽  
Virtual Prototype ◽  
Motion Simulation ◽  
Global State ◽  
Design Scheme ◽  
Good Protection ◽  
Wheeled Robot

Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes etc., the two polymorphic wheels will be outspread to the turbofan state, and the balancing leg will be opened out as a third supporting wheel so as to strengthen the ability to adapt to the environment. When the two polymorphic wheels are expanded into two wheels, the robot motions are more smoothly and easily to be controlled. A virtual prototype of the robot is designed by three-dimensional technology, as well as the motion simulation. Rationality of the mechanism design scheme of the variable structure mobile robot is verified.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

scholarly journals The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

2015 ◽  
Vol 4 (2) ◽  
pp. 150
Author(s):  
M. Ghazal ◽  
A. Talezadeh ◽  
M. Taheri ◽  
M. Nazemi-Zade
Keyword(s):  
Mobile Robot ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Kinematic Model ◽  
Dynamic Equations ◽  
Motion Simulation ◽  
Governing Equations ◽  
Kinematic Constraints ◽  
Extended Application ◽  
The Matrix

To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived. Furthermore, dynamic model of the robot is developed by consideration of kinematic constraints. To derive dynamic equations of the robot, the Lagrange multiplier method is employed and the governing equations of the robot in state-pace form are presented. Then, some simulations are presented to show applicability of the proposed formulation for dynamic analysis of the mobile robot HILARE.

Path Point Calculation and 3D Coordinate Display for WMR Based on Vision

2011 ◽  
Vol 121-126 ◽  
pp. 4176-4179
Author(s):  
Hong Wei Gao ◽  
Chang Yi Luan ◽  
Hui Ying Yang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Simulation Platform ◽  
Motion Simulation ◽  
3D Space ◽  
Point Calculation ◽  
Simulation Results ◽  
2D And 3D ◽  
Path Point

According to the path point calculation, display and motion simulaiton problem for wheeled mobile robot(WMR), two kinds of path point calcualtion method are discussed from 2D and 3D space in this paper. The simulation results based on the motion simulation platform prove the validity and practicability of the proposed method.

1P1-K05 Mechanism design of the all-weather mobile robot(Wheeled Robot/Tracked Vehicle)

2011 ◽  
Vol 2011 (0) ◽  
pp. _1P1-K05_1-_1P1-K05_4
Author(s):  
Shunichi TSUZUKI ◽  
Satoshi ASHIZAWA ◽  
Takeshi SAKURAI ◽  
Ryunosuke IWATA ◽  
Takeo OOMICHI
Keyword(s):  
Mobile Robot ◽  
Mechanism Design ◽  
Tracked Vehicle ◽  
Wheeled Robot

scholarly journals Mechanism design and motion ability analysis for wheel/track mobile robot

2016 ◽  
Vol 8 (11) ◽  
pp. 168781401667976 ◽  
Author(s):  
Dengqi Cui ◽  
Xueshan Gao ◽  
Wenzeng Guo
Keyword(s):  
Mobile Robot ◽  
Mechanism Design ◽  
Wheel Track

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.

scholarly journals Microstructure of injection moulding machine mould clamping mechanism: design and motion simulation

2017 ◽  
Vol 2 (3) ◽  
pp. 101-108 ◽  
Author(s):  
Zhiming Jin ◽  
Yajun Zhang ◽  
Xinliang Wang ◽  
Jacob Williams ◽  
Zhen Liu ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Injection Moulding ◽  
Motion Simulation ◽  
Moulding Machine

scholarly journals SIMULATION OF THE TRAJECTORY OF A MOBILE ROBOT IN FLOWCODE

2020 ◽  
pp. 198-202
Author(s):  
Maksym Grytsiv ◽  
Sukop Marek ◽  
Ferenčík Peter
Keyword(s):  
Mobile Robot ◽  
Physical Object ◽  
Robot Motion ◽  
Motion Simulation ◽  
Program Code ◽  
Target Setting ◽  
Financial Costs ◽  
Real Robot ◽  
Design And Testing ◽  
Basic Configuration

Urgency of the research. Simulation is used to simulate the real movement of the robot, to test the software and capabilities of the robot before assembling it. It makes it possible to change and improve the program code during the testing process in order to implement it in practice at the end. A simulation is a free testing platform without additional financial costs. Target setting. Simulate the movement of a robot using Flowcode, without composing a real robot when it is unavailable. Actual scientific researches and issues analysis. Currently, research focuses on similar issues, as there are currently limitations through which design and testing takes place remotely outside the workshops. Uninvestigated parts of general matters defining. The current solution of using the Flowcode program allows the implementation of programming, modelling, and simulation of work in one program. The research objective. The purpose of the article is to give an idea of how to do a robot motion simulation to test the functionality of program code without using physical robot. The statement of basic materials. For realization the robot simulation, need to have computer with basic configuration and a licensed version of Flowcode software installed. Conclusions. The published article presents the idea of programming and simulating the movement of a mobile robot using Flowcode software, which will help reduce financial costs and time before creating a real robot. Testing the functionality of the program code and the possibility of remote operation without a physical object.

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