A Rig for Testing the Leg of a Wheel-Legged Robot

• Autorzy: Gronowicz A. , Szrek J. , Wudarczyk S.
• Języki publikacji: EN

Abstrakty

EN

The paper describes a rig specially constructed for testing a single leg of the wheel-legged robot being designed and presents exemplary test results. The aim of the tests was to verify the mechanical structure and control system operation in laboratory conditions. The operation of the control, communication and data transmission modules was verified. Also tests aimed at selecting proper parameters for the drive controllers were carried out on the test rig.

Słowa kluczowe

EN

mobile robot; suspension; control system

PL

robot mobilny; zawieszenie; system sterowania

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2012
• Tom: Vol. 6, no. 2
• Strony: 42--52
• Opis fizyczny: Bibliogr. 7 poz., Rys.

Twórcy

autor

Gronowicz A.

autor

Szrek J.

autor

Wudarczyk S.

• Institute of Machines Design and Operation, Faculty of Mechanical Engineering, Wroclaw University of Technology, ul. Lukasiewicza 7/9, 50-371 Wroclaw, Poland,

Bibliografia

• 1. Gonzalez A., Ottaviano E., Ceccarelli M. (2009), On the kinematic functionality of a four-bar based mechanism for guiding wheels in climbing steps and obstacles, Mechanism and Machine Theory, Vol. 44, 1507–1523.
• 2. Grand Ch., BenAmar F., Plumet F., Bidaud Ph. (2002), Stability control of a wheel-legged mini-rover, Proceedings of the CLAWAR Conference.
• 3. Gronowicz A., Szrek J. (2009a), Idea of a quadruped wheel-legged robot, Archive of Mechanical Engineering, Vol. 56, nr 3, 263-278.
• 4. Gronowicz A., Szrek J. (2009b), Design of LegVan wheel-legged robot's mechanical and control system, in: SYROM 2009: proceedings of the 10th IFToMM International Symposium on Science of Mechanisms and Machines, held in Brasov, Romania, October 12-15, Springer.
• 5. Guccione S., Muscato S. (2003), The wheeleg robot, IEEE Robotics & AutomationMagazine, December.
• 6. Halme, A., Leppänen I., Salmi S., Ylönen S. (2000), Hybrid locomotion of wheel- legged machine, Proceedings of the CLAWAR Conference.
• 7. Szrek J. (2009), Synthesis of the kinematic and control system of a quadruped wheel-legged robot (Synteza układu kinematycznego i sterowania czworonoŜnego robota kołowo-kroczącego), PhD Thesis, Wroclaw (in Polish).