Creating an ethernet communication between a Simatic S7-1200 PLC and Arduino Mega for an omnidirectional mobile platform and industrial equipment

Marosan, Adrian I.; Constantin, George; Bârsan, Alexandru; Crenganiș, Mihai; Gîrjob, Claudia

doi:10.1088/1757-899x/968/1/012022

Cited by 8 publications

(9 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This can be done by several methods. Among the most commonly used navigation methods are: measuring the number of rotations made by the drive wheels, the use of accelerators and gyroscopes, electromagnetic beacons installed in the field, passive or semi-passive signals of an optical or magnetic type [5][6][7][8].…”

Section: Mobile Robotsmentioning

confidence: 99%

“…This problem occurs since the wheel generates much more frictional forces, mainly when rotated about the vertical axis rather than when rotated about the central axis. The problem can be reduced by using the dual wheel system similar to the one used at the front landing gear of the aircraft [7][8].…”

Section: Conventional Wheelmentioning

confidence: 99%

“…The locomotion principle for this robot is presented in Figure 4. [7][8][9][10][11]. One can observe that the roller axes make an angle of inclination with the plane of the wheel of 45 °.…”

Section: Mecanum Wheelmentioning

confidence: 99%

See 2 more Smart Citations

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021

View full text Add to dashboard Cite

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

show abstract

Section: Mobile Robotsmentioning

confidence: 99%

Section: Conventional Wheelmentioning

confidence: 99%

See 1 more Smart Citation

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021

View full text Add to dashboard Cite

show abstract

“…Kinematics deals with determining the main parameters that define the motion of a body. In this sense, various methods have been developed with which to determine the equations of positions, the distribution of speeds and the distribution of accelerations for any element in the structure of a kinematic chain [5][6][7][8][9]. Within the robot kinematics, two fundamental types of problems can be distinguished: direct kinematic problem and inverse kinematic problem.…”

Section: Kinematics Of Industrial Manipulators and Robotsmentioning

confidence: 99%

Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

et al. 2021

View full text Add to dashboard Cite

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

show abstract

“…Besides all these advantages of the process, unfortunately there is still one important drawback, which is the low geometrical accuracy of the parts produced, so the current standards cannot be yet fulfilled, thus the process is still in development phase. Many researchers focused on the main factors which causes the parts produced through ISF to be uncompliant and highlighted through various papers the areas of the parts produced with the highest geometrical errors, like Essa in paper [6][7][8][9][10][11][12].…”

Section: Incremental Forming -General Remarksmentioning

confidence: 99%

Common defects of parts manufactured through single point incremental forming

et al. 2021

View full text Add to dashboard Cite

Single point incremental forming is one of the most intensely researched die-less manufacturing process. This process implies the usage of a CNC equipment or a serial robot which deforms a sheet metal with the help of a relatively simple tool that follows an imposed toolpath. As every cold metal forming process, besides the many given advantages it has also some drawbacks. One big drawback in comparison with other cold metal forming processes is the low accuracy of the deformed parts. The aim of this research is to investigate the sheet metal bending mechanism through finite element method analysis. The results shows that the shape of the retaining rings has a big influence over the final geometrical accuracy of the parts manufactured through single point incremental forming.

show abstract

Creating an ethernet communication between a Simatic S7-1200 PLC and Arduino Mega for an omnidirectional mobile platform and industrial equipment

Cited by 8 publications

References 6 publications

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

Common defects of parts manufactured through single point incremental forming

Contact Info

Product

Resources

About