Komputerowe wspomaganie projektowania systemów mechatronicznych na przykładzie autonomicznego robota transportowego

• Autorzy: Stania M. , Posiadała B. , Stetter R.

Warianty tytułu

EN

Computer-aided design of mechatronic systems on the example of an autonomous transport vehicle

• Języki publikacji: PL

Abstrakty

PL

The development and realization of mobile robots and their control system presents a major challenge to engineers of the three disciplines mechanical engineering, electrical engineering and software engineering. In this paper the successful realization of a mobile robot for production logistics at the Hochschule Ravensburg-Weingarten is described. The unique characteristic of this mobile robot is its steering principle. This patented steering principle is based on the usage of torque differences between individually driven wheels, which can align into the direction of the desired robot path. This steering principle leads to excellent maneuverability but requires an elaborate control system. The first feedback of the industrial partner was very positive.

Słowa kluczowe

PL

robot transportowy; system kierowniczy; manewrowość pojazdu

EN

transport vehicle; steering system; maneuverability of the vehicle

• Wydawca: Wydawnictwo HMR-TRANS Sp. z o.o.
• Czasopismo: Transport Przemysłowy i Maszyny Robocze
• Rocznik: 2010
• Tom: Nr 2
• Strony: 86--92
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Stania M.

• Politechnika Częstochowska

autor

Posiadała B.

• Politechnika Częstochowska

autor

Stetter R.

• Hochschule Ravensburg-Weingarten, Niemcy

Bibliografia

• [1] Feldmann K.; Wolf W.: Autonom navigierende Fahrerlose Transportsysteme in der Produktion, [w:] Levi P., Schanz M., Lafrenz R.; Avrutin V.: Autonome Mobile Systeme 2005, Springer, Berlin 2005.
• [2] Handrich, W.: Flexible, flurfreie Materialflusstechnik fur dynamische Produktionsstrukturen, Utz, Monachium 2001.
• [3] Giergiel M.J., Hendzel Z. i Żylski W.: Modelowanie i sterowanie mobilnych robotów kołowych, PWN, Lublin 2002.
• [4] Ashmore M., Barnes N.: Omni-drive robot motion on curved paths: The fastest path between two points is not a straight-line, Proceedings of the Australian Joint Conference on Artificial Intelligence, 2002, s. 225-236.
• [5] Patentanmeldung „Fahrzeug" Aktenzeichen 10 2005 057 635.4, Deutsches Patent- und Markenamt, München.
• [6] Patentanmeldung „Höhenverstellbares Antriebssystem fur mobile Roboter" Aktenzeichen 10 2006 001 055.8, Deutsches Patent- und Markenamt, München.
• [7] Stania M., Stetter R., Paczynski A.: Lenksystem fur Produktionsfahrzeuge auf der Basis von Drehzahl- und Drehmomentdifferenzen, Beitrag zur VDEA/DI-Tagung Elektrisch-mechanische Antriebssysteme 2008 in Bóblingen.
• [8] Zając M., Stetter R., Paczynski A., Uciński D.: Concept of control system for an innovative mobile robot chassis, Proc. of 16th International Conference on Control Systems and Computer Science - CSCS-16. Bucharest, Romania, 2007, s. 304-308.
• [9] Ziemniak P., Stania M., Stetter R.: Mechatronics engineering on the example an innovative production vehicle. International conference on engineering design, ICED'09, 24-27 August 2009, Stanford University, Stanford, CA, USA.
• [10] Stania M., Stetter R.: Dynamic modelling using SimMechanics on the example of an Industrial Robot, International Conference on control systems and computer science, CSCS 17, 26729 May 2009, Bucharest, Romania.
• [11] Stania M., Stetter R., Posiadała B.: Dynamic modeling of wheeled industrial robots, 7th Workshop on Advanced Control and Diagnosis, 19-20 November 2009, Zielona Góra.