[No Title Available]

Faulhaber, Priscila

doi:10.1590/s0104-93131998000200012

Cited by 2 publications

(6 citation statements)

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“…The motion controller of the capsubot system is programmed using the Motion Manager Software [26] and the program is transferred from PC to the motion controller by an RS-232 cable and stored in the EEPROM of the motion controller. The motion controller is disconnected from the PC and the self contained capsubot propulsion system is formed by putting all the elements in place.…”

Section: Methodsmentioning

confidence: 99%

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Self-contained capsubot propulsion mechanism

Huda

Wane

2011

Int. J. Autom. Comput.

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In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.

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Section: Methodsmentioning

confidence: 99%

“…Here, a linear DC motor (QUICKSHAFT LM1247-020-01) [26] is used to drive the capsubot system. The propulsion mechanism based on the internal forcestatic friction is utilized.…”

Section: Hardware Of the Capsubot Systemmentioning

confidence: 99%

Self-contained capsubot propulsion mechanism

Huda

Wane

2011

Int. J. Autom. Comput.

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“…It compares the product of the four mentioned metrics, see Eq. (22). Figure 18 illustrates that the motion intensity is the highest in the inside (first links), and is decreasing moving outwards, while there is no significant difference between the front and rear legs.…”

Section: Feedback For Building An Improved Robotmentioning

confidence: 97%

“…For Szabad(ka)-II, specific DC servo motors were selected from company Faulhaber. 22 These motors are more efficient and have lighter weight than the motors used in our previous robot. The experience gained from the design and exploitation of Szabad(ka)-I ( 10 ) was used in the design process of Szabad(ka)-II.…”

Section: Szabad(ka)-ii's Structural and Mechatronical Propertiesmentioning

confidence: 98%

“…It was assumed that this phenomenon is caused by the internal stall torque in the gearheads which for a certain time prevents the reaction forces exerted by the legs to act on the higher speed motor side. (The motor stall torque is given for Faulhaber serial model 2232 M S = 46.8 mNm, and for the model 2342 M S = 80.0 mNm, 22 but the gearhead stall torque is not referred to.) When the forces exerted on the rear legs cease, the links do not move due to this friction and the gearhead continues to keep the torque on the motor.…”

Section: Issues Related To Motor Currents Of Second Linksmentioning

confidence: 99%

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Model validation of a hexapod walker robot

Kecskés¹,

Burkus²,

Bazsó

et al. 2015

Robotica

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Our complete dynamical simulation-model realistically describes the real low-cost hexapod walker robot Szabad(ka)-II within prescribed tolerances under nominal load conditions. This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical-and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.

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[No Title Available]

Cited by 2 publications

References 0 publications

Self-contained capsubot propulsion mechanism

Self-contained capsubot propulsion mechanism

Model validation of a hexapod walker robot

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