Design of Mobile Robot with Strandbeest Walking Mechanism to Overcome the Set Type Obstacle

2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA) Pub Date : 2021-06-11 DOI:10.1109/HORA52670.2021.9461349

Koray Kavlak, I. Kartal

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引用次数: 1

Abstract

Multi legged robots and mechanisms are successfully used in spatial studies, first aid and search and rescue activities in disasters such as earthquakes, defense industry, detection and destruction of explosive materials such as mines and bombs, counter-terrorism, mining, medicine and many other fields. This success depends on the realization of the mechanism design that will enable the robot to be controlled much more easily and to create a model that can control itself by minimizing the amount of energy consumed. In this paper, the ideal coupler curve was drawn using the Cinderalla program for the mobile robot with Strandbeest walking mechanism to move on a smooth surface and the link distances that provided this curve were determined. Then, different coupler curves were drawn by making changes in the link distances in order to overcome the set type obstacle. Solid modelling of the robot was done in the SolidWorks program. Simulations were also made in the Algodoo program to overcome the set type obstacle.

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克服固定型障碍的横臂行走移动机器人设计

多腿机器人和机构成功地应用于空间研究、地震等灾害中的急救和搜救活动、国防工业、地雷和炸弹等爆炸性材料的探测和销毁、反恐、采矿、医学等许多领域。这一成功取决于机构设计的实现，该设计将使机器人更容易控制，并创建一个可以通过最小化能量消耗来控制自身的模型。本文利用Cinderalla程序绘制了具有Strandbeest行走机构的移动机器人在光滑表面上运动的理想耦合器曲线，并确定了该曲线所提供的连杆距离。然后，通过改变连杆距离来绘制不同的耦合器曲线，以克服设定型障碍。在SolidWorks程序中对机器人进行实体建模。在Algodoo程序中进行了克服设置型障碍的仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)

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