Modelling and simulation studies on the mobile robot with self-leveling chassis

• Autorzy: Bałchanowski J.

Identyfikatory

DOI

10.15632/jtam-pl.54.1.149

• Języki publikacji: EN

Abstrakty

EN

The mobile robot presented in the article is a hybrid system combining efficient travel on wheels on a flat terrain with the capability of surmounting obstacles by walking. The research is focused on designing a control system maintaining the robot chassis at a constant position to the ground. The aims of this research are: creation of the computational model of the control system for the levelling system of designed mobile robots and realization of simulation studies on the robots travel in terrain with obstacles. The simulations aimed at determination of basic dynamic and kinematic properties.

Słowa kluczowe

EN

mobile robot; simulation studies; self-leveling chassis

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2016
• Tom: Vol. 54 nr 1
• Strony: 149--161
• Opis fizyczny: Bibliogr. 17 poz., rys., tab.

Twórcy

autor

Bałchanowski J.

• Wrocław University of Technology, Faculty of Mechanical Engineering, Wrocław, Poland

Bibliografia

• 1. Bałchanowski J., 2012, Mobile wheel-legged robot: researching of suspension leveling system, Advances in Mechanisms Design, J. Beran (Edit.), Dordrecht, Springer
• 2. Bałchanowski J., Gronowicz A., 2012a, Design and simulations of wheel-legged mobile robot, Acta Mechanica et Automatica, 6, 2
• 3. Bałchanowski J., Gronowicz A., 2012b, Designing, building and dynamic studies of the autonomous wheel-legged robot (in Polish), The Project No. N N502 271037, funded by Polish Ministry of Science and Higher Education in the years 2009-2012, SPR 24/2012, Wrocław
• 4. Bałchanowski J., Gronowicz A., 2012c, Designing and simulation examinations of a wheel- -legged suspension of the wheel (in Polish), Journal of Transdisciplinary Systems Science, 16, 2
• 5. Gronowicz A., Szrek J., 2009a, Design of LegVan wheel-legged robot’s mechanical and control system, [In:] SYROM 2009, Ion Visa (Edit.), Springer Netherlands, 145-158
• 6. Gronowicz A., Szrek J., 2009b, 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, 10
• 8. Halme A., Leppanen I., Suomela J., Ylonen S., 2003, WorkPartner: interactive human-like service robot for outdoor applications, The International Journal of Robotics Research, 22, 7-8
• 9. Haug E.J., 1989, Computer Aided Kinematics and Dynamics of Mechanical Systems, Allyn and Bacon, Boston
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• 13. Sperzyński P., Szrek J. Gronowicz A., 2010, The geometric synthesis of a mechanism for realization of a rectilinear trajectory (in Polish), Acta Mechanica et Automatica, 4, 2
• 14. 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
• 15. Tchoń K., Mazur A., Dulęba I., Hossa R., Muszyński R., 2000, Manipulators and Mobile Robots (in Polish), Akademicka Oficyna Wydawnicza, Warszawa
• 16. Trojnacki M., Szynkarczyk P., Andrzejuk A., 2008, Tendencje rozwoju mobilnych robotów lądowych, Pomiary Automatyka Robotyka, 6/08
• 17. Zielińska T., 2003, Walkingmachine (in Polish), PWN, Warszawa

Uwagi

PL

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