0% Complete
صفحه اصلی
/
هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون
Design and construction of a wheel-leg robot and testing the robot for different motion scenarios
نویسندگان :
Mohammadreza Vazifeh ardalani
1
Amin Toorani
2
Moharam Habibnejad Korayem
3
1- دانشگاه علم و صنعت ایران
2- دانشگاه علم و صنعت ایران
3- دانشگاه علم و صنعت ایران
کلمات کلیدی :
Robot،Mobile Robot،Wheel-leg،Kinematics،Manufacturing
چکیده :
This paper examines different test scenarios for a constructed WRLIUST robot. This robot is consisted of 4 wheels and 4 single-link legs. At first, the mechanical design and construction of the robot is argued, then the electronics and robot circuits are described. To build a wheel-leg robot, a detailed design that meets all the desired requirements, is needed. After design, appropriate mechanical and electrical components are specified and along, the communication of the specified equipment is investigated. In order to determine the most appropriate configuration for the robot, different scenarios were planned and tested. Since the robot has height changes, high torque is needed in leg joints. For this reason, motors with high torques should be utilized. To perform these tests, the cinematic results are achieved from gyroscope and dynamic results from motor torques, and by comparing the torques, the best motion for robot is determined so that the robot withstands the least amount of torque and act more perfectly in the best position.
لیست مقالات
لیست مقالات بایگانی شده
بررسی تاثیر پارامترهای مکانیکی و کنترلی در افزایش سرعت چیدمان باتری در دستگاه ربات کارتزین
محمدهادی کلائی - علی رجبی - جواد انفرادی
Whale Optimization Algorithms based Fractional Order Fuzzy PID Controller for Depth of Anesthesia
Amirsaeid Safari - Kosar Safari - Mohammad Manthouri
A Control Scheme to Enhance Low Voltage Ride Through and current limitation under unbalanced faults for seven-level three-phase grid-connected PV inverters
Sepideh Asadimanesh - Hassan Moradi
Adaptive Fractional Sliding Mode Controller for Controlling Airway pressure in an Artificial Ventilation System
Amir Veisi - Hamoun Maleki - Hadi Delavari
Estimation of time-varying and state-dependent fault using adaptive observer for a class of discrete- time systems
Sima Taghizadeh - Reza Mahboobi Esfanjani
UAV Lateral Near-optimal Control Based on Model Reduction
Saman Zaker - Hassan Zarabadipour
Adaptive Controller for Swash Mass Helicopter based on Reinforcement Learning Algorithm
Tahereh Bagheri Rouch - Davood Allahverdy - Ahmad Fakharian
طراحی کنترلکننده ترکیبی پیشبین و تناسبی مشتقی برای تعقیب مسیر توسط کوادکوپتر
علیرضا هونجانی - بهرام تارویردی زاده - محمد شهبازی
Medium-Term Load Forecasting of Iran Khodro Company using Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) Deep Neural Networks
Mahasta Pahlawan - Roohollah Barzamini - Seyyed Abolfazl Yasini
Implementing Engineering Education Based on Posing a Riddle in Field of Instrumentation and Artificial Intelligence
Ali Akbar Yaghoubi - Parham Karimi - Elahe Moradi - Roghayeh Gavagsaz-Ghoachani
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 41.3.2