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1

Design and analysis of a novel concept-based unmanned aerial vehicle with ground traversing capability

Kumar Ramanuj, Gour Surjeet S., Pandey Anish, Kumar Shrestha, Mohan Abhijeet, Shashwat Pratik, Sahoo Ashok K.

Acta Mechanica et Automatica

|

2022

|

Vol. 16, no. 3

169--179

EN

Unmanned aerial vehicle (UAV) is a typical aircraft that is operated remotely by a human operator or autonomously by an on-board microcontroller. The UAV typically carries offensive ordnance, target designators, sensors or electronic transmitters designed for one or more applications. Such application can be in the field of defence surveillance, border patrol, search, bomb disposals, logistics and so forth. These UAVs are also being used in some other areas, such as medical purposes including for medicine delivery, rescue operations, agricultural applications and so on. However, these UAVs can only fly in the sky, and they cannot travel on the ground for other applications. Therefore, in this paper, we design and present the novel concept-based UAV, which can also travel on the ground and rough terrain as an unmanned ground vehicle (UGV). This means that according to our requirement, we can use this as a quadcopter and caterpillar wheel–based UGV using a single remote control unit. Further, the current study also briefly discusses the two-dimensional (2D) and three-dimensional (3D) SolidWorks models of the novel concept-based combined vehicle (UAV + UGV), together with a physical model of a combined vehicle (UAV + UGV) and its various components. Moreover, the kinematic analysis of a combined vehicle (UAV + UGV) has been studied, and the motion controlling kinematic equations have been derived. Then, the real-time aerial and ground motions and orientations and control-based experimental results of a combined vehicle (UAV + UGV) are presented to demonstrate the robustness and effectiveness of the proposed vehicle.

2

Design of Agricultural Type Coconut Climbing and Plucking Robot

Karakkattu Sivanandan Sharath Kumar, Rzymkowski Cezary

Pomiary Automatyka Robotyka

|

2020

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R. 24, nr 2

23--29

EN

The conventional method of coconut plucking followed in coconut farms is arduous as well as a perilous job. There are abounding cases of trauma in which most of them has ended up in the death. Here comes the significant demand for a robot to do this task which would be decisive in mitigating the perils and to meet the everlasting demand of coconut. The foremost intention of the project was to design a climber with a 5 DoF serial chain robot (plucker), which together is supposed to do the coconut climbing and plucking task and also should be available to the farmers at an affordable cost. In the current version, the robot is expected to work complying the commands given by the farmer from the ground who can see the bunch of coconuts through the eyes of robot (cameras) as the robot is not shrewd enough to identify which drupe is ready to be plucked or not. For being cost effective, and light weight, the entire robot skeleton is structured in aluminium alloy with the minimum feasible dimensions of its size and the motor drive selection is also given imperative consideration.

PL

Konwencjonalna metoda zrywania orzechów stosowana na uprawach kokosów jest męcząca i ryzykowna. Często dochodzi do wypadków prowadzących nawet do śmierci. Pojawia się zatem istotna potrzeba zastąpienia pracy ludzkiej przez odpowiednio skonstruowane roboty - pozwoli to na rozwiązanie problemów związanych z zagrożeniami, przy zapewnieniu poziomu produkcji odpowiadającego ciągłemu popytowi na orzechy kokosowe. Głównym celem pracy było opracowanie projektu robota modułowego - mobilnej wspinającej się po pniu platformy transportującej część wykonawczą (robota o pięciu stopniach swobody), której zadaniem jest odcinanie kiści orzechów. Robot powinien być możliwie tani, aby był dostępny dla szerokiej grupy rolników. W wersji, będącej przedmiotem pracy, robot będzie pracował pod nadzorem rolnika pozostającego na ziemi, który będzie decydował, na podstawie obserwacji wizualnej przekazywanej przez kamerę zainstalowaną na końcówce robota, które orzechy nadają się do zerwania. Dla zapewnienia niskiego kosztu i małej masy, szkielet robota jest zbudowany ze stopu aluminium o minimalnych możliwych wymiarach zapewniających jednak odpowiednią sztywność i wytrzymałość. Podobne warunki wzięto pod uwagę przy wyborze silników.

3

The design and analysis of a monolithic gripper mechanism for microscopic tests

Brewczyński Damian, Tora Grzegorz

Technical Transactions

|

2019

|

Vol. 116, iss. 10

129--137

EN

This paper presents the design and results of mechanism research. A lever mechanism for a gripper was made using monolith technology with constrictions in which the deformations correspond to limited rotation of the links. Unidirectional movement of the drive link is reduced and simultaneously converted into movement of the jaw clamp. Temporary centres of rotation were used to obtain the symmetrical and perpendicular movement of the two ends of the clamp in relation to its axis of symmetry. Computer simulations and tests were performed on a prototype of the gripper mechanism, confirming the adopted predictions of the device’s operation.

PL

W pracy przedstawiono projekt i wyniki badań mechanizmu chwytaka. Mechanizm dźwigniowy robota wykonano w technologii monolitu z przewężeniami, w których odkształcenia odpowiadają ograniczonym obrotom ogniw. Jednokierunkowy ruch ogniwa napędowego zostaje zredukowany, a następnie zamieniony na ruch zacisku szczęk. Wykorzystano chwilowe środki obrotu w celu uzyskania symetrycznego i prostopadłego ruchu dwóch końców zacisku względem jego osi symetrii. Wykonano symulacje komputerowe i badania na prototypie robota, potwierdzające przyjęte założenia pracy urządzenia.

4

Kinematic model of multiple trailers on a tractor system for production logistics applications

Paszkowiak Wojciech, Bartkowiak Tomasz, Pelic Marcin

Archives of Mechanical Technology and Materials

|

2019

|

Vol. 39

16--25

EN

This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.

5

Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain

Terefe Tesfaye O., Lemu Hirpa G, K/Mariam Addisu, Tuli Tadele B.

Advances in Science and Technology. Research Journal

|

2019

|

Vol. 13, no 3

43--53

EN

Many manmade machines and mechanisms, including robots, function based on the concept of nature-inspired design, so that they can perform their intended duties by mimicking the working mechanisms of animals and insects. Accordingly, walking machines (robots) use wheels and tracks to cross rough terrain efficiently and in a more stable way than conventional robots. Legged walking robots in particular remain in a discontinuous contact with the ground that provides them with the capability to select routes to avoid obstacles or holes. This article reports a study conducted on kinematic modelling and analysis of a walking machine (robot) leg mechanism that can operate on rough terrain. Its kinematic mechanisms were analyzed using the Denavit-Hartenberg (DH) convention approach. Symbolic computations are also implemented to parametrically optimize the motion parameters of the robot leg mechanism. The equation of motion was derived from the dynamic analysis using the Euler-Lagrange method which involves kinetic and potential energy expressions. In order to validate the performance of the robot leg mechanism and motion behaviors, the kinematic motion analysis was performed in SolidWorks and MATLAB. The leg mechanism used is effective for rough terrain areas because it is capable of walking on the terrain with different amplitudes in terms of surface roughness and aerodynamics.

6

Is it possible to reduce loads of the locomotor system during the landing phase of dance figures? Biomechanical analysis of the landing phase in Grand Jeté, Entrelacé and Ballonné

Gorwa Joanna, Michnik Robert, Nowakowska-Lipiec Katarzyna, Jurkojć Jacek, Jochymczyk-Woźniak Katarzyna

Acta of Bioengineering and Biomechanics

|

2019

|

Vol. 21, no. 4

111--121

EN

The objective of the work was to determine biomechanical parameters influencing loads affecting the musculoskeletal system and shock absorption during the landing phase in Grand Jeté, Entrelacé and Ballonné. Methods: Motion kinematics measurements of the landing phase in GrandJeté, Entrelacé and Ballonné were carried out using the optical APAS system, and measurements of the GRF components – using Kistler platform. The research was carried out for three professional dancers. Kinematic and kinetic parameters of the landing were analysed. Results: The mean maximum GRF value in relation to the classical dancer amounted to 8.16 ± 1.37 N/BW. During landing, the joints of the lower limb are affected by external force moments of high values (ankle – 3.04 ± 0.54 [Nm/BW], knee – 7.56 ± 5.53 [Nm/BW], hip – 10.97 ± 6.80 [Nm/BW]). The maximum value of the external force moments in the joint were strongly negatively correlated with the value of the angle in the hip joint at the moment of the first contact with the ground. It was noticed that the obtainment of maxGRF was preceded by a decrease in kinetic energy of approximately 50%. Conclusions: Factors affecting loads present in the musculoskeletal system during the shock absorption of a leap are: GRF values, the values of external force generated inside the joints and a change in the value of kinetic energy. The safe shock absorption after landing is influenced by properly positioned limb at the moment of the first contact, a greater range of movements in the joints and longer time from the moment of the first contact to the obtainment of maxGRF.

7

The influence of minimalist and conventional sports shoes and lower limbs dominance on running gait

Jandova S., Volf P., Vaverka F.

Acta of Bioengineering and Biomechanics

|

2018

|

Vol. 20, no. 3

3--9

EN

Purpose: The aim of this study was to determine how minimalist running shoes (MRS), conventional running shoes (CRS) and the dominance of lower limbs influence the running gait. Methods: Trained recreational runners (N = 13) who have been engaged in regulary running for more than one year were participants in this study. They were experienced with using MRS and CRS for more than half year and they used both types of shoes. An in-shoe pressure measuring system (Pedar-X®, Novel, Munich, Germany) was used to monitor plantar pressure and vertical force and the temporal parameters when running in MRS and CRS during the stance phase, the swing phase and over one stride. Results: Running in CRS significantly prolonged stance, swing and stride phases by 2–11% compared to MRS. In contrast, when running in MRS significantly larger values of maximum pressure (9–14%) and maximum vertical force (3–7%) than in CRS were found. Conclusions: For this reason, running in MRS could be recommended to recreational runners only with care. The effect of limb dominance on temporal characteristics was detected when running in CRS. Significantly longer stance phase for dominant limb is associated with a shorter swing. The kinematics variables were significantly higher for dominant limb than for non-dominat limb when running in MRS and CRS (by 12–23%).

8

Geometric analysis of maneuverability performance for vehicles with two steering axles

Pilisiewicz J., Kaczyński R.

Transport Problems

|

2017

|

T. 12, z. 2

43--52

EN

One of the most important features of motor vehicles is their steering maneuverability. Ways of determining single axle steering are well known. This paper presents an idea of how to determine maneuverability of motor vehicles with two steering axles. The concept makes use of elements of kinematic analysis as well as of a 3D model of the steering system. It is based on the theoretical analysis of the most unfavorable situations, such as parallel and perpendicular parking techniques, on the basis of which wheel-steering angles are specified. As a result, it was possible to create a 3D model to simulate the actual operation of the steering system. This made it possible to compare the theoretical approach with the actual system design.

9

Kinetyka reakcji następczej. Cz. 2, Odwracalne reakcje I rzędu

Głowiński J., Stocki J., Baczyńska T., Kędzior R., Klakočar-Ciepacz M.

Przemysł Chemiczny

|

2017

|

T. 96, nr 3

607--610

PL

Szybkość tworzenia produktu w reakcjach z odwracalnym etapem tworzenia lub rozkładu produktu przejściowego opisano równaniem potęgowym zmiennej stopnia przereagowania substratu. Pokazano jak parametry przyjętego równania wiążą się ze stałymi szybkości obu reakcji oraz stężeniem początkowym substratu.

EN

Rate of product formation in a reversible consecutive reaction was evaluated for varying values of all reaction consts. (0.01-10⁶). Equations for calculation of product concns. were developed.

10

Kinetyka reakcji następczej. Cz. 1, Nieodwracalne reakcje I rzędu

Głowiński J., Słonka T., Falewicz P., Grzesiak D., Klakočar-Ciepacz M.

Przemysł Chemiczny

|

2017

|

T. 96, nr 3

604--606

PL

Szybkość tworzenia produktu w reakcji S → X → P oraz stężenie produktu opisano równaniem potęgowym zmiennej stopnia przereagowania. Pokazano jak parametry przyjętego równania wiążą się ze stałymi szybkości oraz stężeniem początkowym substratu.

EN

Rate of product formation in a consecutive reaction was evaluated for varying ratio of both rate consts. Equations for calculation of product concns. were developed.

11

Integration of navigation, vision, and arm manipulation towards elevator operation for laboratory transportation system using mobile robots

Abdulla A. A., Ali M. M., Stoll N., Thurow K.

Journal of Automation Mobile Robotics and Intelligent Systems

|

2017

|

Vol. 11, No. 4

34--50

EN

In the automated environments, mobile robots play an important role to perform different tasks such as objects transportation and material handling. In this paper, a new method for a glassy elevator handling system based on H20 mobile robots is presented to connect distributed life science laboratories in multiple floors. Various labware and tube racks have to be transported to different workstations. Locating of elevator door, entry button detection, internal buttons recognition, robot arm manipulation, current floor estimation, and elevator door status checking are the main operations to realize a successful elevator handling system. The H20 mobile robot has dual arms where each arm consists of 6 revolute joints and a gripper. The gripper has two degrees of freedom. Different sensors have been employed with the robot to handle these operations such as Intel RealSense F200 vision sensor for entry and internal buttons detection with position estimation. A pressure sensor is used for current floor estimation inside the elevator. Also, an ultrasonic proximity distance sensor is utilized for checking the elevator door status. Different strategies including HSL color representation, adaptive binary threshold, optical character recognition, and FIR smoothing filter have been employed for the elevator operations. For pressing operation, a hand camera base and a new elevator finger model are designed. The elevator finger is resolved in a way to fit the arm gripper which is used also to manipulate the labware containers. The Kinematic solution is utilized for controlling the arms’ joints. A server/client socket architecture with TCP/IP command protocol is used for data exchange between Multi-Floor System and the H20 robot arms. Many experiments were conducted in life science laboratories to validate the developed systems. Experimental results prove an efficient performance with high success rate under different lightening condition.

12

The Nonuniformity of the Piston Motion of the Radial Engine

Pietrykowski K., Tulwin T.

Applied Computer Science

|

2017

|

Vol. 13, no 2

39--47

EN

The results of kinematic analysis of the ASz-62IR radial engine crankshaft was presented. In addition, the one-dimensional model of the working cycle of the engine was created in AVL BOOST system. Differences in the waveforms for each pistons causes the differences in the filling process what reflects in the mass of the load supplied to cylinders. Additionally, due to one dimensional model computation. The results show differences in the value of maximum pressure. This causes differences in mean effective pressure of up to 4% and which also affects the vibrations of the whole engine.

13

Displacement analysis of the human knee joint based on the spatial kinematic model by using vector method

Knapczyk J., Góra-Maniowska M.

Acta Mechanica et Automatica

|

2017

|

Vol. 11, no. 4

322--327

EN

Kinematic model of the human knee joint, considered as one-degree-of-freedom spatial parallel mechanism, is used to analyse the spatial displacement of the femur with respect to the tibia. The articular surfaces of femoral and tibia condyles are modelled, based on selected references, as spherical and planar surfaces. The condyles are contacted in two points and are guided by three ligaments modelled as binary links with constant lengths. In particular, the mechanism position problem is solved by using the vector method. The obtained kinematic characteristics are adequate to the experimental results presented in the literature. Additionally, the screw displacements of relative motion in the knee joint model are determined.

14

Strength analysis of the supporting structure of the ABT vehicle during container

Zembrowski K., Sobocki S., Rakowicz A., Siczyński Ł.

Journal of Research and Applications in Agricultural Engineering

|

2016

|

Vol. 61, nr 2

134--139

EN

The article presents the process of designing and strength analysis of the body and continuous track unit of a specialised track-laying vehicle for the transport of biomass obtained on wetlands performed within framework of the development project No. PBS2/B8/11/2013 “Autonomous technology for the transport of biomass obtained on protected wetlands” related to the removal of unwanted vegetation from protected areas, especially national parks, landscape parks and Natura 2000 areas. The new vehicle was designed by a consortium led by the Team for Power Engineering and Dynamics of Agricultural Machines at the Industrial Institute of Agricultural Engineering. Its aim is to find a solution which would significantly increase the efficiency of the process of obtaining biomass taking account of the autonomous operation of the new machine.

PL

W artykule przedstawiono proces projektowania i weryfikacji wytrzymałości kadłuba oraz układu bieżnego specjalizowanego pojazdu gąsienicowego dla technologii transportu biomasy na terenach wodno-błotnych, realizowanego w ramach projektu rozwojowego nr PBS2/B8/11/2013 pt.: „Autonomiczna technologia transportu biomasy pozyskiwanej na chronionych obszarach wodno-błotnych”, związanego z usuwaniem niepożądanej roślinności z chronionych terenów, zwłaszcza parków narodowych, parków krajobrazowych oraz obszarów Natura 2000. Projekt nowego pojazdu opracowany został przez konsorcjum, którego liderem jest Zespół ds. Energetyki i Dynamiki Maszyn Rolniczych PIMR w Poznaniu. Jego zadaniem jest znalezienie rozwiązania, które pozwoliłoby znacząco podnieść wydajność procesu pozyskiwania biomasy przy uwzględnieniu autonomiczności działania powstałej konstrukcji.

15

Computer analysis of insect-like robot leg structure – part 2 – kinematic and dynamic analyses

Wojtkowiak D., Talaśka K., Malujda I.

Journal of Mechanical and Transport Engineering

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2016

|

Vol. 68, No. 3

63--75

EN

The aim of this paper is to present the effect of a chosen gait algorithm on the forward speed of the robot and on the joint load values. To this end a motion simulation study was carried out using Solidworks software package, comprising kinematic and dynamic analyses. It also presents the forward and reverse kinematics solutions for the insect-like walking robot leg.

PL

Niniejszy artykuł ma na celu przedstawienie wpływu wybranego algorytmu kroku na uzyskiwaną prędkość ruchu i obciążenia poszczególnych przegubów nogi. W tym celu wykorzystane zostało symulacyjne badanie ruchu wykonane w programie SolidWorks, które składa się z analizy kinematycznej i dynamicznej. Dodatkowo w artykule przedstawiono rozwiązanie zadań kinematyki prostej i odwrotnej dla nogi robota kroczącego wzorowanego na budowie owada.

16

Dynamics model of stabilization mechanism for helicopter PAD

Brewczyński D., Tora G.

Journal of KONES

|

2016

|

Vol. 23, No. 2

61--68

EN

Helipad located on ships greatly increases their ability to perform tactical and logistical abilities. They allow performing reconnaissance from the air, transportation of cargos and people to and from the ship. Landing on a moving ship particularly small size during bad weather is not a safe manoeuvre. Article provides an overview of existing solutions that improve safety during the landing manoeuvre of the helicopter to the ship and describes an innovative mechanism with can stabilize helicopter pad in four degrees of freedom. This solution is characterized in that the landing plate is movable and actuated simultaneously by two support plates and two levers. Plates and levers are driven by separate linear motors that move along the guides connected to the base. The main feature of the mechanism is that when the base is not stable, it can reduce the linear movement of the landing platform in the vertical and transverse direction and angular displacement around an axis perpendicular and parallel to the axis of the ship. A preferred feature of the mechanism is that in folded position it occupies relatively little space. In addition, advantageous attribute of the mechanism is its large working area, enabling the reduction of high amplitude vibration. The article contains a calculation of the kinematics for the proposed structure of the mechanism. It also includes speed drives waveforms, which are the result of simulations for the input parameters of the ship movement.

17

Spatial kinematic analysis of double 4-link coupler used in low-floor tram powertrains

Maniowski M., Czauderna T.

Archive of Mechanical Engineering

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2016

|

Vol. LXIII, nr 1

5--23

EN

The paper presents kinematic characteristics of the double 4-link coupler system, used in actual powertrain of low-floor trams (NGT6-Kr). The spatial kinematic model of the couplings was formulated assuming ideal joints and rigid members. The constraints equations of the mechanism were solved iteratively and differentiated to obtain the Jacobian matrix. The mobility and singularity analysis of the coupler mechanism was performed on the basis of the Jacobian matrix. Kinematic characteristics of the single and double coupler system were analyzed for gross angular and linear axle displacements (misalignments), taking the advantage of the fully nonlinear model. The coupling system was evaluated based on criteria describing homokinetics, balancing and clearance demands, and angular displacements in the joints. These criteria were determined for different design parameters like: coupler proportions, platform shift and angle, middle shaft length.

PL

W pracy przestawiono charakterystyki kinematyczne układu napędowego z podwójnym sprzęgłem 4-cięgłowym, wykorzystywanym w tramwajach nisko-podłogowych (NGT6-Kr). Przestrzenny model kinematyczny sprzęgła został sformułowany zakładając idealne przeguby i sztywne ogniwa. Równania więzów mechanizmu rozwiązano iteracyjnie, a następnie zróżniczkowano w celu wyznaczenia macierzy jakobianowej mechanizmu. Macierz tą wykorzystano do analizy ruchliwości i osobliwości mechanizmu sprzęgła. Charakterystyki kinematyczne układu z pojedynczym i podwójnym sprzęgłem analizowano w zakresie dużych kątowych i liniowych przemieszczeń wałów układu napędowego. Układ sprzęgłowy oceniano w oparciu o następujące kryteria: homokinetyczność, wyrównoważenie, ograniczenie przestrzeni roboczej oraz dopuszczalne przemieszczenie w przegubach mechanizmu. Analiza parametryczna dotyczyła takich zmiennych konstrukcyjnych, jak: proporcje sprzęgła, przesunięcie i orientacja platform sprzęgieł, czy długość wału pośredniego.

18

Projekt windy załadowczej samochodu dostawczego

Dębski H., Ferdynus M., Lipski P.

Logistyka

|

2015

|

nr 4

2932--2937, CD2

PL

W pracy zaprezentowano autorski projekt windy załadowczej samochodu dostawczego, wykonany z wykorzystaniem programu Catia v5. Zaproponowane rozwiązanie konstrukcyjne wyróżniało się sposobem realizacji napędu z wykorzystaniem dwóch par siłowników: zewnętrznych – umożliwiających realizację otwierania i zamykanie platformy załadowczej oraz wewnętrznych – realizujących bezpośrednio podnoszenie i opuszczanie platformy. Weryfikację poprawności zaprojektowanego urządzenia przeprowadzono wykonując symulacje kinematyczne pracy mechanizmu z wykorzystaniem modułu DMU Kinematics. Przeprowadzona analiza umożliwiła lokalizację i wyeliminowanie błędów konstrukcyjnych występujących w urządzeniu, jak również sprawdzenie podstawowych jego parametrów w trakcie pracy. Zaprezentowane podejście ułatwia i przyspiesza wykonanie projektu docelowego, umożliwiając eliminację niekorzystnych rozwiązań jeszcze na etapie projektowania.

EN

The paper presents the authorial design of the liftgate for the delivery van, created using Catia v5 system. The proposed structural concept uses the innovative drive with two pairs of elevating cylinders: external cylinder for opening and closing the liftgate; internal cylinder- for hoisting and lowering the platform. in order to verify the design the kinematic simulation of the mechanism was created with the use of DMU Kinematics module. The analysis helped to localize and eliminate constructional errors and check its fundamental parameters in the working conditions. The presented approach expedites the execution of the target project, enabling to eliminate disadvantageous solutions at the stage of a design.

19

Stabilization mechanism for helicopter pad with four degrees of freedom

Brewczyński D., Tora G.

Journal of KONES

|

2015

|

Vol. 22, No. 3

7--12

EN

Helipad located on ships greatly increases their ability to perform tactical and logistical abilities. They allow performing reconnaissance from the air, transportation of cargos and people to and from the ship. Landing on a moving ship particularly small size during bad weather is not a safe manoeuvre. Article provides an overview of existing solutions that improve safety during the landing manoeuvre of the helicopter to the ship and describes an innovative mechanism with can stabilize helicopter pad in four degrees of freedom. This solution is characterized in that the landing plate is movable and actuated simultaneously by two support plates and two levers. Plates and levers are driven by separate linear motors that move along the guides connected to the base. The main feature of the mechanism is that when the base is not stable, it can reduce the linear movement of the landing platform in the vertical and transverse direction and angular displacement around an axis perpendicular and parallel to the axis of the ship. A preferred feature of the mechanism is that in folded position it occupies relatively little space. In addition, advantageous attribute of the mechanism is its large working area, enabling the reduction of high amplitude vibration. The article contains a calculation of the kinematics for the proposed structure of the mechanism. It also includes speed drives waveforms, which are the result of simulations for the input parameters of the ship movement.

20

Design and Movement Control of a 12-Legged Mobile Robot

Rysiński J., Gola B., Kopeć J.

Journal of Automation Mobile Robotics and Intelligent Systems

|

2015

|

Vol. 9, No. 4

39--47

EN

In the present paper, design and performance of 12-legged walking robot is described. The complete technical specification was developed for the proposed solution. The analysis of stability of the robot movements was undertaken. Communication between robot and operator is based on remote control procedures performed by means of own software which is written in versions for smartphone or desktop computer. The software version for desktop computers has additional useful features i.e. monitoring of the area of robot work/activity via a wireless camera mounted on fore side of the robot.