Simulation Method for the Transport System of a Small-Sized Reconfigurable Mobile Robot

Abstract

This study focuses on the features of transport (locomotion) systems of mobile mini-robots (MMR), i.e., small unmanned ground vehicles of a portable type measuring several tens of centimeters and weighing no more than 15 kg. A distinctive feature of the considered MMR is the possibility of its both structural reconfiguration (i.e., the ability to function in two options—tracked and wheeled) and geometric reconfiguration in the tracked option (i.e., chassis geometry variation). Thus, the transport system of such a mobile robot is divided into two components: a locomotion subsystem and a chassis geometry variation subsystem. The article examines the factors that are necessary for the correct mathematical description of such a small-sized and relatively high-speed transport system. A method for constructing a computer model of the transport system as an electromechanical device only is proposed. Such a computer model of the MMR transport system is developed for two types of chassis configurations: tracked and wheeled. The experimental studies performed and the comparison of the experimental and simulated data obtained showed their close convergence, within 5 to 7%. Thus, it is shown that the revealed features of the MMR transport systems along with the proposed method for their computer model development considering these features make it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with previously known approaches used in the computation of larger vehicles. The results obtained make it possible to consider the proposed computer model of the transport system as an electromechanical component of the complete model of a mobile robot.

On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

“…Pursuing this objective automatically implies a variety of technical challenges that go far beyond a careful motion planning and smart control of the robotic system, even if significant advances were made in this sense [3]: on-line path planning [4], innovative use of sensors [5], and development of localization strategies [6] are examples of the fields that caught the attention of the research community. Alongside with such aspects, also the mechanical design plays a role of paramount importance [7,8], together with the development of dedicated models able to simulate mechanical system [9,10]. In the past, a class of robots was exploited more than others for domestic use, namely, those owning two fixed driven wheels, also known as differential-drive robots.…”

“…Machines 2021, 9, x FOR PEER REVIEW 2 of 15 that caught the attention of the research community. Alongside with such aspects, also the mechanical design plays a role of paramount importance [7,8], together with the development of dedicated models able to simulate mechanical system [9,10]. In the past, a class of robots was exploited more than others for domestic use, namely, those owning two fixed driven wheels, also known as differential-drive robots.…”