Ackerman Mobile Robot with Arm

Orozco-Velazquez, R.A.; Silva‐Ortigoza, Ramón; Márquez-Sánchez, Celso; García-Sánchez, José Rafael; Taud, Hind; Sosa-Cervantes, C. Y.; Antonio-Cruz, Mayra; Marcelino-Aranda, Mariana; Carrizosa-Corral, Fernando

doi:10.1109/icmeae.2016.019

Cited by 4 publications

(5 citation statements)

References 20 publications

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“…Ackerman vehicles, as the one presented in [9], are required when an aggressive steering is needed while maintaining a reasonable velocity when positioned in flat surfaces with obstacles. However, this locomotion arrangement increases the design components (and design complexity), as well as it reduces the manoeuvrability.…”

Section: Related Workmentioning

confidence: 99%

“…Since the wheels and shaft ones are well known, the one of the full system, this is motor/shaft/wheel, may be calculated. Both wheel and shaft ones, J w and J s , respectively, are calculated through (9), where the inertial mass, m i , is calculated in (8). Here, we define (a) ρ as the component density, (b) r a as its external radius, (c) r i as its internal (if applicable), and (d) h the width.…”

Section: Maximum Torque and Powermentioning

confidence: 99%

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Omnidirectional Robotic Platform for Surveillance of Particle Accelerator Environments with Limited Space Areas

2021

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Intelligent robotic systems are becoming essential for inspections and measurements in harsh environments. This article presents the design of an omnidirectional robotic platform for tunnel inspection with spatial limitations. This robot was born from the need to automate the surveillance process of the Super Proton Synchrotron (SPS) accelerator of the European Organization for Nuclear Research (CERN), where there is remaining radiation. The accelerator is located within a tunnel that is divided by small doors of 400 × 200 mm dimensions, through which the robot has to cross. The designed robot brings a robotic arm, and the needed devices to carry out the inspection. Thanks to this design, the robot application may vary by replacing certain devices and tools. In addition, this paper presents the kinematic and dynamic control models for the robotic platform.

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Section: Related Workmentioning

confidence: 99%

Section: Maximum Torque and Powermentioning

confidence: 99%

Omnidirectional Robotic Platform for Surveillance of Particle Accelerator Environments with Limited Space Areas

2021

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“…Considering the maximum torque load of the servomotors and the weight of the upper link, clamp and load object, a critical load case can be considered in which the force of the weight of the upper elements WS and the force of the torque Ftq, contribute their maximum magnitudes thus applying a force Fd applying moments to the two bars due to the incidence of the centered load and weight of upper elements. The torsion in each element can be analyzed using (9). (9) In (9), the torque represented by J, represents the shear stress of the material, this considers a safety factor fstor whose value must be greater than or similar to 2, the torque obtained by the force Fd and the distance ddl / 2.…”

Section: (5)mentioning

confidence: 99%

“…The torsion in each element can be analyzed using (9). (9) In (9), the torque represented by J, represents the shear stress of the material, this considers a safety factor fstor whose value must be greater than or similar to 2, the torque obtained by the force Fd and the distance ddl / 2. The parameter L of (9) represents the length that for the analyzed case will be equal to dl.…”

Section: (5)mentioning

confidence: 99%

“…The field of mobile robotics is in potential development and its study is mandatory for careers related to electrical or electronic engineering. There are multiple works developed on mobile platforms [5][6][7][8], however, there are few basic design aspects related to mechanics for mobile robots and that allow adapting existing platforms in specific applications, of different capacities and situations [9].…”

Section: Iintroductionmentioning

confidence: 99%

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Criteria for the design of an educational robotics platform

Flor

Fuentes

Toapanta

2020

ATH

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This document explains the criteria, considerations and formulations used for the design of the main components of a mobile platform with a robotic arm. This type of robot is one of the most used in the educational field, it facilitates learning and allows the incorporation of control strategies for navigation. Aspects of resistance of materials useful for branches of engineering that lack bases on mechanics are raised. Keywords: Design; robot; platform; educational. References [1]O. Flor, W. Hernandez, O. Vargas, A. Mendez, O. Sergiyenko and V. Tyrsa, "Construction of a Robotic Platform of Differential Type for First-Year Students of Electronic Engineering", International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Sorrento, Italy, 2020, pp. 538-543, doi: 10.1109/SPEEDAM48782.2020.9161870. [2]O. Flor, “Building a mobile robot”, Education for the future, 2020 [Online] Available: https://omarflor2014. wixsite.com/misitio. [Last Access: February 10, 2020]. [3]A. Ollero, “ROBÓTICA: Manipuladores y robots móviles, Marcombo Boixareu Editores, 2001, Chapters 1-2 (pp. 1-37), Chapter 4 (pp. 85-87), Chapter 9 (pp. 258-267), and Chapter 10 (pp. 303-327). [4]K. Pitti, L. Muñoz, I. Moreno, J. Serracín, “La robótica educativa, una herramienta para la enseñanza-aprendizaje de las ciencias y tecnologías”, Researchgate, pp. 74-90, 2012. [5]E. Ruiz, R. Acuña, N. Certad, A. Terrones and M. E. Cabrera, "Development of a Control Platform for the Mobile Robot Roomba Using ROS and a Kinect Sensor", 2013 Latin American Robotics Symposium and Competition, Arequipa, 2013, pp. 55-60. doi: 10.1109/LARS.2013.57J. [6]J. Wu, C. Lv, L. Zhao, R. Li and G. Wang, "Design and implementation of an omnidirectional mobile robot platform with unified I/O interfaces," 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, 2017, pp. 410-415. doi: 10.1109/ICMA.2017.8015852. [7]M. Ali, W. Yusoff, Z. Hamedon, M. Yussof and M. Mailah, Mechatronic design and development of an autonomous mobile robotics system for road marks painting, IEEE Industrial Electronics and Applications Conference, 2016, pp. 336-341, doi: 10.1109/IEACON.2016.8067401. [8]H. Guo , K. Su , K. Hsia , and J. Wang , Development of the mobile robot with a robot arm, Proceedings IEEE International Conference on Industrial Technology (ICIT), Taipei, Taiwan, 2016, pp. 1648-1653. [9]R. A. Orozco-Velázquez et al., Ackerman Mobile Robot with Arm,International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), Cuernavaca, 2016, pp. 55-60, doi: 10.1109/ICMEAE. 2016.019. [10]A. Razak et al., Mobile robot structure design, modeling and simulation for confined space application, 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), 2016 Ipoh, 2016, pp. 1-5. doi: 10.1109/ROMA.2016.7847808.

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