MULTIMODE WHEELED MOBILE ROBOT WITH HEIGHT CONTROL ON UNEVEN SURFACES

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BAMDAD M.; MARDANI A.

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Journal Paper

Paper Information

Journal: Journal of Applied and Computational Sciences in Mechanics Year:2016 | Volume:27 | Issue:1 (13) Page(s): 173-184

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Information Journal Paper

Title

MULTIMODE WHEELED MOBILE ROBOT WITH HEIGHT CONTROL ON UNEVEN SURFACES

Author(s)

BAMDAD M. | MARDANI A. | Issue Writer Certificate

Keywords

MOBILE ROBOTQ2

MULTIMODEQ2

LOCOMOTIONQ2

HEIGHT CONTROLQ2

Abstract

In this paper, the motion capability of wheeled MOBILE ROBOT is increased by providing a new structure. Due to the special design, converting a two-wheeled robot to a four-wheeled robot is possible in the proposed multi-mode robot. This design has the ability to simultaneously and interchangeably provide LOCOMOTION and manipulation capability in motion on uneven terrain. Unlike most other MOBILE ROBOT designs that have a separate manipulator arm module attached on top of the mobile platform, the central axis in this design can manipulate like a robotic arm. The robot midpoint as an end-effector is a passive joint. The part which could carry the guidance and visual equipments follows the HEIGHT CONTROL, easily and without a new actuator. The basic requirement of stability and acceptable performance could be guaranteed through this simple, novel design. Finally, the simulation is used to study the robot’s enhanced mobility characteristics through animations of different trajectories for end-effector on uneven terrain.

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APA: Copy

BAMDAD, M., & MARDANI, A.. (2016). MULTIMODE WHEELED MOBILE ROBOT WITH HEIGHT CONTROL ON UNEVEN SURFACES. JOURNAL OF APPLIED AND COMPUTATIONAL SCIENCES IN MECHANICS (JOURNAL OF SCHOOL OF ENGINEERING), 27(1 (13)), 173-184. SID. https://sid.ir/paper/196314/en

Vancouver: Copy

BAMDAD M., MARDANI A.. MULTIMODE WHEELED MOBILE ROBOT WITH HEIGHT CONTROL ON UNEVEN SURFACES. JOURNAL OF APPLIED AND COMPUTATIONAL SCIENCES IN MECHANICS (JOURNAL OF SCHOOL OF ENGINEERING)[Internet]. 2016;27(1 (13)):173-184. Available from: https://sid.ir/paper/196314/en

IEEE: Copy

M. BAMDAD, and A. MARDANI, “MULTIMODE WHEELED MOBILE ROBOT WITH HEIGHT CONTROL ON UNEVEN SURFACES,” JOURNAL OF APPLIED AND COMPUTATIONAL SCIENCES IN MECHANICS (JOURNAL OF SCHOOL OF ENGINEERING), vol. 27, no. 1 (13), pp. 173–184, 2016, [Online]. Available: https://sid.ir/paper/196314/en

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