ربات متحرک تمام جهته عملگر ناقص
ترجمه نشده

ربات متحرک تمام جهته عملگر ناقص

عنوان فارسی مقاله: تحقیق در مورد یک ربات متحرک تمام جهته عملگر ناقص با سبک جدید مبتنی بر سیستم هدایت جفت سازی ویژه
عنوان انگلیسی مقاله: Research on a New-Style Under-Actuated Omnidirectional Mobile Robot Based on Special Coupling Drive System
مجله/کنفرانس: دسترسی – IEEE Access
رشته های تحصیلی مرتبط: مهندسی برق
گرایش های تحصیلی مرتبط: رباتیک
کلمات کلیدی فارسی: نگرش ثابت، ربات متحرک، تمام جهته، عملگر ناقص
کلمات کلیدی انگلیسی: Constant attitude, mobile robot, omnidirectional, under-actuated
نوع نگارش مقاله: مقاله پژوهشی (Research Article)
نمایه: Scopus – Master Journals List – JCR
شناسه دیجیتال (DOI): https://doi.org/10.1109/ACCESS.2019.2948378
دانشگاه: School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
ناشر: آی تریپل ای - IEEE
نوع ارائه مقاله: ژورنال
نوع مقاله: ISI
سال انتشار مقاله: 2019
ایمپکت فاکتور: 4.641 در سال 2018
شاخص H_index: 56 در سال 2019
شاخص SJR: 0.609 در سال 2018
شناسه ISSN: 2169-3536
شاخص Quartile (چارک): Q2 در سال 2018
فرمت مقاله انگلیسی: PDF
تعداد صفحات مقاله انگلیسی: 11
وضعیت ترجمه: ترجمه نشده است
قیمت مقاله انگلیسی: رایگان
آیا این مقاله بیس است: خیر
آیا این مقاله مدل مفهومی دارد: ندارد
آیا این مقاله پرسشنامه دارد: ندارد
آیا این مقاله متغیر دارد: ندارد
کد محصول: E13892
رفرنس: دارای رفرنس در داخل متن و انتهای مقاله
فهرست انگلیسی مطالب

Abstract


I. Introduction


II. Analysis of Under-Actuated Omnidirectional Mobile Robot


III. Simulation and Experimental Results Analysis of Under-Actuated Omnidirectional Mobile Robot


IV. Conclusion


Authors


Figures


References

نمونه متن انگلیسی مقاله

Abstract


In some existing omnidirectional mobile robots, the movement of each wheel is generally controlled by one driven motor cooperates with one steering motor, such design will increase the energy consumption. This paper investigates an omnidirectional mobile robot based on a special coupling system, so as to solve the above problem. We propose a unique robot’s steering method by designing the parallelogram connecting rod as the coupling system, which makes each wheel only need to be equipped with one motor to complete omnidirectional motion and always keep unchanged robot’s attitude. In theory, we conduct the structural analysis, dynamic analysis and kinematic analysis of the mobile robot and explain why our system is under-actuated. In experiments, the square trajectory and the serpentine trajectory are exploited to verify the rationality of design and theoretical derivation by comparing the simulation results with the experimental results. By performing mobile robot walking experiments under different ground condition respectively, the stability and adaption of the under-actuated omnidirectional mobile robot is also favourably confirmed. After detailed theoretical analysis and the support of experiments, it is carried out that the under-actuated mechanism proposed in this paper can indeed realize the movement of the robot in all directions. As well as the attitude of the robot always keeps constant, as we expected, enables to realize the steering of robot flexibly even in a narrow space.


Introduction


In recent years, with the rise of artificial intelligence technology, the robots have been applied to several fields. Such as the climbing robots for detecting tasks [1], [2], mobile robots that can be used in home and industrial environments [3]. Particularly, mobile robot as an important branch of robotics has received a great attention by most countries [4]. The earliest appeared is the wheeled robot developed by Stanford, which is primarily capable of self-service reasoning, planning and control in complex environments [5]. As time goes by, the relevant researches on mobile robots are also deepening with the assistance of advanced technology. A mass of omnidirectional mobile robots have been applied widely due to the emergence of omnidirectional wheel technology. In order to meet the use of mobile robots in different scenarios, the choice of wheel mechanism is particularly important [3]. Among them, the design scheme of Mecanum wheel is proposed in 1973 and is subsequently exploited [6], [7]. In [8], presents an omni-directional mobile robot using four custom-made mecanum wheels, each wheel is independently powered using a precisian gear DC motors. The KUKA company in Germany takes full advantage of its own robot development and launches the YouBot robot into people’s view [9], [10]. Subsequently, KUKA introduces the omniMove large mobile robot platform, which has flexible mobility and powerful load capacity despite its bulk [11].

  • اشتراک گذاری در

دیدگاه خود را بنویسید:

تاکنون دیدگاهی برای این نوشته ارسال نشده است

ربات متحرک تمام جهته عملگر ناقص
نوشته های مرتبط
مقالات جدید
لوگوی رسانه های برخط

logo-samandehi

پیوندها