Selection of manipulator configuration for a portable robot for special tasks

• Autorzy: Krakówka Tomasz , Typiak Andrzej , Cader Maciej

Identyfikatory

DOI

10.14313/JAMRIS/1-2022/3

• Języki publikacji: EN

Abstrakty

EN

This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.

Słowa kluczowe

EN

field robotics; EOD robots; manipulator

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2022
• Tom: Vol. 16, No. 1
• Strony: 21--30
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Krakówka Tomasz

• Department of Mobile Systems, Łukasiewicz PIAP, Warsaw, Poland

autor

Typiak Andrzej

• Faculty of Mechanical Engineering, Military University of Technology, Warsaw, Poland

autor

Cader Maciej

• Deputy Director of Research, Łukasiewicz PIAP, Warsaw, Poland

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).