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1 Zeszyty Naukowe Politechniki Poznańskiej. Budowa Maszyn i Zarządzanie Produkcją

1 2008

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The analysis and evolution of walking service robots design

Smrcek J., Palko A., Nemec M.

Zeszyty Naukowe Politechniki Poznańskiej. Budowa Maszyn i Zarządzanie Produkcją

2008

Nr 9

101-106

One of the problem while dealing walking mechanism of mobile service robot (MSR) is the problem of his mechanical organization and control. An example for the solution are locomotive organs of the animals. Biomechanics defines motion as a change of the system position in the space as well as the change of the position of its functional parts. Subsequently space and time -space features of the motion represent kinematical features. Power and time feature represents dynamic features of the moving material system. These signs and features can be used as effective tools for biomechanical analysis of the movement activities and characteristics of random walking body of MSR. Biomechanical model can be used especially by optimization of the construction and driving unit of the walking mechanism, while designing of its control and coordination of the movement of its functional sections. The article introduces authors' knowledge and experience from the use of biomechanical characteristics by the analysis and evaluation of walking service robots movement realization technique, as well as by the creation of the models simulating walk for the needs of the walking mechanism MSR construction.