Design of Chassis and Kinematics Research of Wheeled Robot

Sun, Wencheng; Li, Shuge; Wang, Weiqiang; Pengju, Zhao; Yang, Renqiang

doi:10.1109/itnec48623.2020.9085044

Cited by 4 publications

(1 citation statement)

References 7 publications

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“…Some studies designed a two-handed robot for cooking, expanding the motion sparseness, optimizing the mission, and shortening the cooking time [1,2]. Some studies focusing on food provision used multiple robots designed with a ringed robot by planning the robot's running trajectory [3,4]. Other studies reported on the collection of tableware from a table by using a single motor to operate multiple fingers simultaneously and attaching a camera to grasp the overall condition of the tableware [5,6].…”

Section: Introductionmentioning

confidence: 99%

Tableware Tidying-Up Robot System for Self-Service Restaurant–Detection and Manipulation of Leftover Food and Tableware-

Zhu

Seki

Tsuji

et al. 2022

Sensors

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In this study, an automated tableware tidying-up robot system was developed to tidy up tableware in a self-service restaurant with a large amount of tableware. This study focused on sorting and collecting tableware placed on trays detected by an RGB-D camera. Leftover food was also treated with this robot system. The RGB-D camera efficiently detected the position and height of the tableware and whether there was leftover food or not by image processing. A parallel arm and robot hand mechanism was designed to realize the advantages of a low cost and high processing speed. Two types of rotation mechanisms were designed to realize the function of throwing away leftover food. The effectiveness of the camera detection system was verified through the experiments of tableware and leftover food detection. The effectiveness of the prototype robot and the rotation assist mechanism was verified through the experiments of grasping tableware, throwing away leftover food by two types of rotating mechanisms, collecting multiple tableware, and the sorting of overlapping tableware with multiple robots.

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Section: Introductionmentioning

confidence: 99%

Tableware Tidying-Up Robot System for Self-Service Restaurant–Detection and Manipulation of Leftover Food and Tableware-

Zhu

Seki

Tsuji

et al. 2022

Sensors

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Autonomous Navigation System for Robotics Structures Equipped with Mecanum Wheels

Roibu

Bazavan

Popescu

et al. 2021

2021 30th Annual Conference of the European Association for Education in Electrical and Information Engineering (EAEEIE)

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Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform

Pankrateva,

Mordin,

Saypulaev

2023

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

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Introduction. Mobile robots capable of omnidirectional movement are widely used in various fields of human activity. To provide high accuracy of positioning of omnidirectional platforms with mecanum wheels, it is required to develop their detailed mathematical models used in the construction of a motion control system. Due to the complicated design of the mecanum wheels, various errors may occur during the construction of omnidirectional platforms, including the error of installing such wheels on the platform. Its effect on the accuracy of the platform movement has not been studied before. This work aims at assessing the positioning errors that arise due to the presence of design errors in the installation of mecanum wheels, and analyzing the effect of these errors on the accuracy of program motion testing when using control at the kinematic level.Materials and Methods. The analysis of positioning accuracy was based on mathematical modeling of the platform kinematics, taking into account structural errors in the installation of mecanum wheels. To describe the relationship between the angular speeds of rotation of the wheels and the speeds of the platform, the conditions of nonslip of the contact points on the support surface were used. Numerical calculations were carried out in the Wolfram Mathematica package.Results. A formula was obtained for estimating errors in platform pseudovelocities under program control formed at the kinematic level. The estimation of the errors of the platform speeds for simple movements was carried out. According to the calculation results, it has been shown that the speed errors are significant for robots with mecanum wheels operating autonomously.Discussion and Conclusion. The calculation results demonstrated the significant impact of wheel installation errors on the positioning accuracy of the mecanum-platform, and confirmed the need to take into account these design errors when creating autonomous mecanum-platforms. The constructed model of the robot's kinematics makes it possible to predict errors in platform speeds that arise under program control, as well as deviations of the coordinates of the geometric center of the platform from the program motion. The proposed kinematic model can be used to improve the positioning accuracy through forming a platform motion control that compensates for the influence of wheel installation errors.

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Design of Chassis and Kinematics Research of Wheeled Robot

Cited by 4 publications

References 7 publications

Tableware Tidying-Up Robot System for Self-Service Restaurant–Detection and Manipulation of Leftover Food and Tableware-

Tableware Tidying-Up Robot System for Self-Service Restaurant–Detection and Manipulation of Leftover Food and Tableware-

Autonomous Navigation System for Robotics Structures Equipped with Mecanum Wheels

Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform

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