Design of a Sorting and Conveying Wheeled Mobile Robot

2014 ◽  
Vol 902 ◽  
pp. 207-212
Author(s):  
Yu Lin Wang ◽  
Zheng Ji ◽  
Kuan Huang ◽  
Wei Jun Tao ◽  
Hu Tian Feng ◽  
...  
Keyword(s):  
Mobile Robot ◽  
System Design ◽  
Mechanical Design ◽  
Wheeled Mobile Robot ◽  
Schematic Design

The wheeled mobile robot has been widely used in various fields nowadays. Combining with a contest of mobile robot used for sorting and conveying objects, this paper designed a non-tracking wheeled mobile robot, which can move according to a reasonable route planned beforehand. First, the overall schematic design of mobile robot was introduced. Then the mechanical design and the circuit system design were discussed in detail. Last, the strategy of sorting and conveying was studied, and the innovative rotary-wheel mechanism can greatly simplify the sorting and conveying strategy. Through experiment verified, the proposed wheeled mobile robot can quickly achieve sorting and conveying according to preplanned paths.

Design of a Remote-Controlled Basketball-Playing Mobile Robot

2014 ◽  
Vol 532 ◽  
pp. 170-174 ◽  
Author(s):  
Fang Liu ◽  
Chang Qing Shen ◽  
Yong Bin Liu ◽  
Fan Rang Kong
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
System Design ◽  
Kinematic Analysis ◽  
Hardware Design ◽  
Wheeled Mobile Robot ◽  
Posture Control ◽  
Science Museum ◽  
Electrical System ◽  
Design Efficiency

This paper depicts the system design of a basketball-playing robot named BPR. BPR is a wheeled mobile robot equipped with a 3-DOF manipulator and a mechanical claw. The robot can grasp one basketball and then dunk under the players remote control. In this paper, the hardware design including the mechanical structure and the electrical system are introduced firstly. Then, the kinematic analysis of the manipulator is proposed to decide the manipulators posture control. Finally, simulation of the manipulator is implemented in ADAMS to verify the design efficiency of posture planning. BPR has been exhibited in a science museum in China and it is well welcomed by the audiences.

scholarly journals Pure Rolling Steering System Design and Research for Wheeled Mobile Robot

2019 ◽  
Vol 1345 ◽  
pp. 042071
Author(s):  
Zhifa Chen ◽  
Xiaolin Xie ◽  
Feng Gao ◽  
Zhengyu Liu ◽  
Yaoyu Li
Keyword(s):  
Mobile Robot ◽  
System Design ◽  
Steering System ◽  
Wheeled Mobile Robot ◽  
Pure Rolling

A portable six-wheeled mobile robot with reconfigurable body and self-adaptable obstacle-climbing mechanisms

2022 ◽  
pp. 1-39
Author(s):  
Zhen Song ◽  
Zirong Luo ◽  
Guowu Wei ◽  
Jianzhong Shang
Keyword(s):  
Mobile Robot ◽  
Field Experiments ◽  
Mechanical Design ◽  
Wheeled Mobile Robot ◽  
Structure Parameters ◽  
Mechatronic Systems ◽  
Obstacle Crossing ◽  
Motion Stability ◽  
Physical Prototype ◽  
Static Conditions

Abstract Mobile robots can replace rescuers in rescue and detection missions in complex and unstructured environments and draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with a reconfigurable body and self-adaptable obstacle-climbing mechanisms, which can reconfigure itself to three locomotion states to realize the advantages of terrain adaptability, obstacle crossing ability and portability. Design criteria and mechanical design of the proposed mobile robot are firstly presented, based on which the geometry of the robot is modelled and the geometric constraint, static conditions and motion stability condition for obstacle crossing of the robot are derived and formulated. Numerical simulations are then conducted to verify the geometric passing capability, static passing capability and motion stability and find feasible structure parameters of the robot in obstacle crossing. Further, a physical prototype of the proposed mobile robot is developed and integrated with mechatronic systems and remote control. Using the prototype, field experiments are carried out to verify the feasibility of the proposed design and theoretical derivations. The results show that the proposed mobile robot satisfies all the criteria set and is feasible for applications in disastrous rescuing scenarios.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

Recent Patents on Omni-Directional Wheel Applied on Wheeled Mobile Robot

2016 ◽  
Vol 9 (3) ◽  
pp. 215-221
Author(s):  
Junpeng Shao ◽  
Tianhua He ◽  
Jingang Jiang ◽  
Yongde Zhang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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