Study on numerical analysis of dynamic parameters of mobile walking robot

Polishchuk, Mikhail; Suyazov, Mykyta; Opashnyansky, Mark

doi:10.15282/jmes.14.1.2020.14.0499

Cited by 8 publications

(7 citation statements)

References 6 publications

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“…Table 1 shows comparative qualitative indicators for VDR with different principles of engagement [21][22][23][24][25]. e movement mechanisms of VDR can also be divided into passive and active depending on whether the robot is equipped with an engine or not.…”

Section: Robots Engaging On a Vertical Surfacementioning

confidence: 99%

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Attar

Abu-Jassar

Yevsieiev

et al. 2022

Computational Intelligence and Neuroscience

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Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

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Section: Robots Engaging On a Vertical Surfacementioning

confidence: 99%

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Attar

Abu-Jassar

Yevsieiev

et al. 2022

Computational Intelligence and Neuroscience

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“…The design of the phalanges of the fingers is discussed in more detail below. A dynamic model of a similar design, but in the form of pedipulators of a mobile robot, is considered in [28], [29]. Here we will consider the construction of a flexible arm Figure 1…”

Section: Design Of Flexible Robot Handmentioning

confidence: 99%

Design and modeling industrial intelligent robot flexible hand

et al. 2022

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The article describes a description of a fundamentally new design, mathematical model and experimental research of a flexible arm with an anthropomorphic gripper for an industrial robot. The advantage of the proposed design of the robot arm in comparison with the known traditional technical solutions is achieved as close as possible to the functions of the human arm. This property significantly increases the versatility of the robot arm when performing various technological operations. Another difference from the known models of industrial robots is the presence of an anthropomorphic gripping device in the flexible arm, which allows you to service products with different shapes and arbitrary coordinates in space. In addition, the article for the first time proposes a method for calculating the parameters of a new hand and experimental studies of its functioning, which will allow engineers in the field of robotics to create similar designs. The economic effect of the proposed design is that the implementation of the movements of the proposed robot arm does not require separate electromechanical drives for each joint of the kinematic chain of the manipulator. This effect significantly reduces the cost of a robot arm while expanding its technological capabilities.

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“…It has a special application on the different nonlinear systems based on feedback linearization by the use of nonlinear feedback law it would able to compute required torque in the arm [15][16][17][18]. It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24].…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.

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Study on numerical analysis of dynamic parameters of mobile walking robot

Cited by 8 publications

References 6 publications

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Design and modeling industrial intelligent robot flexible hand

Performance estimation of computed torque control for surgical robot application

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