Type synthesis, modelling and analysis of the manipulator for wheel-legged robot

• Autorzy: Szrek J. , Muraszkowski A. , Sperzyński P.

Identyfikatory

DOI

10.1515/ama-2016-0014

• Języki publikacji: EN

Abstrakty

EN

The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.

Słowa kluczowe

EN

mobile manipulator; multibody dynamics analysis; wheel-legged platform

PL

robot mobilny; manipulator mobilny; dynamika układów wieloczłonowych

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2016
• Tom: Vol. 10, no. 2
• Strony: 87--91
• Opis fizyczny: Bibliogr. 18 poz., rys., wykr.

Twórcy

autor

Szrek J.

• Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Wroclaw University of Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

autor

Muraszkowski A.

• Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Wroclaw University of Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

autor

Sperzyński P.

• Faculty of Mechanical Engineering, Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Wroclaw University of Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

Bibliografia

• 1. Bałchanowski J. (2012b): Mobile wheel-legged robot: researching of suspension leveling system, Advances in mechanisms design / eds. Jaroslav Beran, Dordrecht, Springer.
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• 3. Buśkiewicz J. (2014), Design of a feeder with the use of the path synthesis method – New Advances in Mechanisms, Transmissions and Applications Mechanisms and Machine Science, 17, 251-259.
• 4. Gronowicz A. (2003), Basis of kinematics systems analysis (in Polish), Oficyna wydawnicza PWr., Wrocław.
• 5. Gronowicz A., J. Szrek (2009b), Design of LegVan wheel-legged robot’s mechanical and control system, SYROM 2009 Red. Ion Visa, Springer Netherlands, 145–158.
• 6. Gronowicz A., Szrek J. (2009a), Idea of a quadruped wheel-legged robot, Archive of Mechanical Engineering, 56(3), 263–278.
• 7. Gronowicz A., Szrek J., Wudarczyk S. (2012), A rig for testing the leg of a wheel-legged robot, Acta Mechanica et Automatica, 6(2), 48- 52.
• 8. Miller S. (1988), Kinematic systems. Design basis (in Polish), WNT 1988, Warszawa.
• 9. Sperzyński P., Szrek J. Gronowicz A. (2010), Geometric synthesis of mechanism implementing linear trajectory (in Polish), Acta Mechanica et Automatica, 4(2), 124-129.
• 10. Srinivasa S. S., D. Ferguson, C. J. Helfrich, D. Berenson, Avaro Collet, R. Diankov, G. Gallagher, G. Hollinger, J. Kuffner, M. VandeWeghe (2009), HERB: a home exploring robotic butler, Auton Robot, 28, 5–20, Springer Science+Business Media.
• 11. Szrek J. (2006), Synthesis method of wheel-legged mobile robot suspension (in Polish), XX Konferencja Naukowo – Dydaktyczna Teorii Maszyn i Mechanizmów, Zielona Góra.
• 12. Szrek J., Wójtowicz P. (2010), Idea of wheel-legged robot and its control system design, Bulletin of the Polish Academy of Sciences. Technical Sciences, 58(1), 43-50.
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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.