scholarly journals ON THE INFLUENCE OF GAIT ON TRACTION DYNAMICS OF WALKING ROBOTS

2021 ◽  
pp. 74-79
Author(s):  
N. G. Sharonov
Keyword(s):  
Mobile Robot ◽  
Research Method ◽  
Walking Robots ◽  
Supporting Surface ◽  
Energy Characteristics

A research method of the effect gait of movers, discretely interacting with the supporting surface, on the energy characteristics of mobile robot motors is considered.

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 Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

2021 ◽  
Vol 17 (4) ◽  
pp. 527-546
Author(s):  
I. S. Mamaev ◽  
◽  
A. A. Kilin ◽  
Yu. L. Karavaev ◽  
V. A. Shestakov ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Euler Equations ◽  
Elementary Geometry ◽  
Supporting Surface ◽  
Dynamical Equations ◽  
Omnidirectional Mobile Robot ◽  
Angular Velocities ◽  
Reaction Forces ◽  
Position And Orientation ◽  
Omnidirectional Wheels

In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton – Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirectional wheels and their rollers taking into account the possibility of implementing the omnidirectional motion. We obtain the dependence of reaction forces acting on the wheel from the supporting surface on the parameters defining the trajectory of motion: linear and angular velocities and accelerations, and the curvature of the trajectory of motion. A striking feature of the system considered is that the results obtained can be formulated in terms of elementary geometry.

Helicopter main reduction planetary gear fault diagnosis method based on SVDD

2020 ◽  
Vol 64 (1-4) ◽  
pp. 137-145
Author(s):  
Yubin Xia ◽  
Dakai Liang ◽  
Guo Zheng ◽  
Jingling Wang ◽  
Jie Zeng
Keyword(s):  
Fault Diagnosis ◽  
Planetary Gear ◽  
Gaussian Kernel ◽  
Support Vector ◽  
Support Vector Data Description ◽  
Vector Data ◽  
Energy Characteristics ◽  
Gear Fault ◽  
Channel Information ◽  
Diagnosis Method

Aiming at the irregularity of the fault characteristics of the helicopter main reducer planetary gear, a fault diagnosis method based on support vector data description (SVDD) is proposed. The working condition of the helicopter is complex and changeable, and the fault characteristics of the planetary gear also show irregularity with the change of working conditions. It is impossible to diagnose the fault by the regularity of a single fault feature; so a method of SVDD based on Gaussian kernel function is used. By connecting the energy characteristics and fault characteristics of the helicopter main reducer running state signal and performing vector quantization, the planetary gear of the helicopter main reducer is characterized, and simultaneously couple the multi-channel information, which can accurately characterize the operational state of the planetary gear’s state.

Pengaruh Kecerdasan Emosional Dan Kecerdasan Spiritual Pada Kepuasan Kerja Yang Berdampak Terhadap Kinerja Karyawan PT. Madu Baru Bantul, Yogyakarta

2018 ◽  
Vol 26 (1) ◽  
pp. 13-29
Author(s):  
Erlangga Arya Mandala ◽  
Faresti Nurdiana Dihan
Keyword(s):  
Job Satisfaction ◽  
Emotional Intelligence ◽  
Statistical Analysis ◽  
Significant Influence ◽  
Significant Relationship ◽  
Research Method ◽  
Quantitative Method ◽  
Employee Performance ◽  
Spiritual Intelligence ◽  
Employee Job Satisfaction

The Emotional intelligence, spiritual intelligence and job satisfaction to be part of the factors that influence performance. The purpose of this study was to determine the effect of emotional intelligence and spiritual intelligence on the performance through job satisfaction as an intervening variable partially and simultaneously. This study also aimed to determine the effect of emotional intelligence and spiritual intelligence on the performance through job satisfaction as an intervening variable directly and indirectly. This study was conducted to 77 respondents employees of PT. Madu Baru, Yogyakarta. The research method used is quantitative method uses statistical analysis and descriptive. The results of this study are (1) there is a significant effect of emotional intelligence on employee job satisfaction. (2) there is a significant influence of spiritual intelligence on employee job satisfaction. (3) There is a significant relationship between emotional intelligence and spiritual intelligence on job satisfaction. (4) There is a significant relationship between emotional intelligence on employee performance. (5) There is a significant relationship between spiritual intelligence on employee performance. (6) There is a significant relationship between emotional intelligence and spiritual intelligence on employee performance. (7) There is a significant relationship between job satisfaction on employee performance. (8) There is an indirect effect of emotional intelligence on the performance of employees through job satisfaction. (9) There is the indirect influence of spiritual intelligence on the performance of employees through job satisfaction. Keywords: emotional intelligence, spiritual intelligence, job satisfaction and employee performance

Pengaruh Kinerja Keuangan Dan Corporate Social Responsibility (CSR) Terhadap Nilai Perusahaan Perbankan Di Bursa Efek Indonesia

2018 ◽  
Vol 26 (1) ◽  
pp. 95-111
Author(s):  
Sulastiningsih Sulastiningsih ◽  
Rizka Imanita Sholihati
Keyword(s):  
Corporate Social Responsibility ◽  
Social Responsibility ◽  
Financial Performance ◽  
Firm Value ◽  
Research Method ◽  
Quantitative Research ◽  
Annual Report ◽  
Stock Exchange ◽  
Secondary Data ◽  
Corporate Social

This study aims to determine whether the financial performance measured by using CAR, ROA, LDR, BOPO, and CSR can affect the value of banking companies as measured by using PBV. This study uses secondary data taken from the annual report of banking companies during the year 2012-2016 listed on the Indonesia Stock Exchange. The number of samples of this study as many as 25 banking companies with a total of 125 data. This research method is quantitative research. The results of this study indicate the effect of CAR, ROA, LDR, BOPO, and CSR variables on firm value measured by using PBV in a banking company listed on the Indonesia Stock Exchange. Keywords: CAR, ROA, LDR, BOPO, CSR, PBV

PENGARUH PERBAIKAN BERKESINAMBUNGAN TERHADAP KINERJA KARYAWAN (STUDI KASUS DI PT.RENTANG BUANA NIAGAMAKMUR TASIKMALAYA)

2019 ◽  
Vol 3 (1) ◽  
pp. 31-41
Author(s):  
Sri Sudiarti
Keyword(s):  
Data Analysis ◽  
Continuous Improvement ◽  
Research Method ◽  
Employee Performance ◽  
Sampling Technique ◽  
Positive Influence ◽  
Performance Criteria ◽  
Coefficient Of Determination ◽  
Analysis Techniques ◽  
Simple Regression

The objectives of this research are to know and to analyze about the effect of Continuous Improvement on the performance of employees at PT. Rentang Buana Niagamakmur (PT.RBN) Tasikmalaya. Research method which applied in this research is survey research method, while data collecting technique is done by through questionaire. Sampling technique applies sample is accidental sampling technique and the size sample is 55 respondents. Data analysis techniques used in the study is simple regression technique, analysis of the coefficient of determination  and t test. The results showed that the Continuous Improvement  including both criteria, including employee performance criteria, as well as Continuous Improvement  has a positive influence on employee performance of 76,4% in PT . Rentang Buana Niagamakmur (PT.RBN) Tasikmalaya.

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