کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

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 ardalani¹ Amin Toorani² Moharam Habibnejad Korayem³

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

کنترل تطبیقی سیستم چندعاملی غیرخطی با‏ نامعینی‏ پارامتری و تاخیر تغییرپذیر با زمان نامعلوم

نجمه زمانی - جواد عسگری - مرضیه کمالی

Vascular Age Prediction with PPG-Based LSTM Model

Kiana Pilevar Abrisham - Khalil Alipour - Bahram Tarvirdizaheh - Mohammad Ghamari

Enhancing Resiliency in Standalone Microgrid Control System Using Consensus Algorithm Integrated with Multivariable Filter

Mojtaba Ahmadi - Mohammad Hossein Mousavi - Hassan Moradi

طراحی کنترل‌کننده حالت لغزشی تطبیقی زمان محدود مرتبه کسری برای بهبود پایداری توربین‌های بادی پایه کششی شناور فراساحلی تحت اغتشاشات وزش باد و امواج دریا

متین جزءاسلامی - مائده نفیسی‌فر - محمدرضا عسکری سپستانکی - ابوالفضل جلیلوند

D-Stability Analysis for Tuning Fractional-Order PI Controller

Mohammad Tavazoei - Mohammad Hassan Asemani

Estimation of time-varying and state-dependent fault using adaptive observer for a class of discrete- time systems

Sima Taghizadeh - Reza Mahboobi Esfanjani

Texture Analysis of Corn-based Snacks with Fast Fourier Transform

José-David Martínez-Velasco - Annamaría Filomena-Ambrosio - Claudia L. Garzón-Castro - Julieta Domínguez-Soberanes - Paolo Visconti - Ramiro Velázquez

The Effect of Observer Position on Networked Control Systems with Random Transmission Delays and Packet Dropouts

Elaheh Mohammadi-Asl - Farzad Hashemzadeh - Mahdi Baradarannia - Peyman Bagheri

L1-Gain Stabilization of Uncertain Switched Positive Linear Systems with Actuator Saturation

Mohammad Ali Nojoumian - Moosa Ayati - Mohammad Reza Zakerzadeh

Data-Driven Controller Design for a Synchronous Generator Connected to an Infinite Bus

Abdollah Karimzadeh - Maryam Dehghani - Mohammad Hassan Asemani - Reza Najarazdeh

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.3.2