The following work was done to analyze mobile structures with different arrangements of wheels. Software package Solidworks was utilized in modeling and analysis of the structures. Eight mobile structures were built by rearranging the placement of both driven and free wheels. Each structure has its own unique placement of wheels, hence giving the opportunity to understand the influence of the wheels’ placement on the functionality of the whole structure in terms of speed, stability, and other parameters. Therefore, eight mobile structures were analyzed, and the results were gathered. Adding more driven wheels or free wheels does not improve the performance of the mobile structures. The outcomes of the results illustrated that structure 6 tends to be more positive in terms of energy consumption, torque, and stability. Hence, adding more driven wheels does not improve the performance of the mobile structures.
Owing to their compliance with most shapes, soft actuators are regarded as cost-effective solutions for grasping irregular objects. The material properties of nonlinear elastic polymers are considered necessary for the correct implementation of these actuators. The analysis tends to be complex even for simple movements defined by theoretically infinite degrees of freedom. This study offers a mathematical model that outlines a relationship between the energy provided by a pressure source and the expected behavior of multi-chamber pneumatic soft actuators through hyper-elastic material deformation interpretation, geometric approximations, and the vectorial representations of their segments. Digitally analyzed empirical results measured through lateral pictures of an actuator were taken at different pressure references. Direct comparisons between the average value of the tested angles and those calculated through the tuned mathematical model provide a maximum error of 0.647° for small deformations and an improved accuracy at higher pressure inputs. This study offers a valid tool applicable to the design of soft actuators and their further analysis without the need for overly complex methods.
With the technological advance grows the need for optimization in the tasks performed by mobile robots, these must be endowed with autonomy and other decisions, this is because the operating environments become more complex and with obstacles and objectives that change position, adding to this the interferences of the workspace such as disturbances in the environment and other system noises. To address this problem, the use of navigation algorithms, route creation, position estimation, path tracking, object recognition and others are used. In the present study, a spiral methodology was used with which a mathematical model based on the extended Kalman filter (EKF) was developed for trajectory tracking and position estimation of a differential robot using its kinematics. For the validation of the mathematical model Matlab was used together with CoppeliaSim where the different test scenarios were carried out, later the results of EKF are compared with those of Kevin Passino’s algorithm, finding superior in most aspects to the EKF except in the time when Kevin Passino’s algorithm achieves a shorter simulation time.
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