VIBRATION REDUCTION OF FLEXIBLE SOLAR PANEL IN WHEELED MOBILE ROBOTS BASED ONROBOT TRAJECTORY PLANNING

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HAFEZIPOUR MORTEZA; JAFARI ALI ASGHAR; MOOSAVIAN SEYED ALI AKBAR

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:8 Page(s): 0-0

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Title

VIBRATION REDUCTION OF FLEXIBLE SOLAR PANEL IN WHEELED MOBILE ROBOTS BASED ONROBOT TRAJECTORY PLANNING

Author(s)

HAFEZIPOUR MORTEZA | JAFARI ALI ASGHAR | MOOSAVIAN SEYED ALI AKBAR | Issue Writer Certificate

Keywords

WHEELED MOBILE ROBOTQ1

FLEXIBLE SOLAR PANELQ1

REDUCING VIBRATIONQ2

KANE METHODQ1

Abstract

A solar-powered robot is a mobile robot powered completely or significantly by direct solar energy. Thesun's energy is converted into electric energy by solar panels mounted on the robot. These solar panelsare required to be light because of the important demands for low-energy consumption. As a result ofthe flexibility of elements of the panels, undesirable low-frequency vibration may occur when the robotmoves on a rough terrain. In this paper, a new method for stabilization of solar panels vibration basedon trajectory planning for articulated mobile robot is presented. The dynamics of solar panels attachedto the robot is derived using Kane’s method. The attitude and configuration of a rover as a function ofthe terrain on which it moves is determined using inverse kinematics of the robot. The attitude andconfiguration of a rover is required to approximate the domain of vibration by derived dynamicsequations. Based on this approximation, a trajectory planning algorithm is presented that can reducevibration with no significant decrease in the velocity of the robot. The proposed method is simulated fora six-WHEELED MOBILE ROBOT with rocker-bogie structure. The obtained results show that the algorithmstabilizes the domain of vibration in allowable area and does not decrease the velocity of the robotsignificantly.

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APA: Copy

HAFEZIPOUR, MORTEZA, JAFARI, ALI ASGHAR, & MOOSAVIAN, SEYED ALI AKBAR. (2016). VIBRATION REDUCTION OF FLEXIBLE SOLAR PANEL IN WHEELED MOBILE ROBOTS BASED ONROBOT TRAJECTORY PLANNING. MODARES MECHANICAL ENGINEERING, 16(8), 0-0. SID. https://sid.ir/paper/358888/en

Vancouver: Copy

HAFEZIPOUR MORTEZA, JAFARI ALI ASGHAR, MOOSAVIAN SEYED ALI AKBAR. VIBRATION REDUCTION OF FLEXIBLE SOLAR PANEL IN WHEELED MOBILE ROBOTS BASED ONROBOT TRAJECTORY PLANNING. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(8):0-0. Available from: https://sid.ir/paper/358888/en

IEEE: Copy

MORTEZA HAFEZIPOUR, ALI ASGHAR JAFARI, and SEYED ALI AKBAR MOOSAVIAN, “VIBRATION REDUCTION OF FLEXIBLE SOLAR PANEL IN WHEELED MOBILE ROBOTS BASED ONROBOT TRAJECTORY PLANNING,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 8, pp. 0–0, 2016, [Online]. Available: https://sid.ir/paper/358888/en

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