Chassis Design of a Mobile Robot for Reducing Weight by Excluding Suspension Elements

• Autorzy: Okada T. , Mimura N. , Shimizu T.

Identyfikatory

DOI

10.14313/JAMRIS_2-2015/17

• Języki publikacji: EN

Abstrakty

EN

This paper proposes the design concept that prevents its total weight from increasing. The object of the methodology is to modify a conventional robot chassis for structural simplicity by composing the chassis from an elastic material so that it can reduce vibration and shock to the body. This idea makes it unnecessary to attach additional elements, such as suspension units; in addition, it means that it is possible to easily deform the chassis by forming long holes, and to decrease the total weight of the robot, even when the chassis is thick enough for functionality. It contributes to preventing the weight of the power source from increasing. Structural models for analyzing flexure of the chassis using the finite element method (FEM) are pursued. Also, dynamic behaviors of the chassis are clarified based on the modal analysis. The minor difference in error between the experimental and analytical data verifies that the models are useful in a practical application.

Słowa kluczowe

EN

mobile robot; chassis flexure; suspension-less; FEM; wheelchair

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 2
• Strony: 42--51
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Okada T.

• Niigata University, 2-8050 Ikarashi, Niigata-shi, Niigata, Japan 950- 218, http://[e-mail]

autor

Mimura N.

• Niigata University, 2-8050 Ikarashi, Niigata-shi, Niigata, Japan 950- 2181, www: http://[e-mail]

autor

Shimizu T.

• Ibaraki University, 4-12-1 Nakanarusawa, Hitachi-shi, Ibaraki, Japan 316- 8511, www: www.mech.ibaraki.ac.jp/en

Bibliografia

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