Design and Construction of a Robotic Vehicle with Omni-directional Mecanum Wheels

Vachálek, Ján; Toth, Filip; Krasnansky, Pavol; Capucha, Lubomir

doi:10.22223/tr.2014-1/1983

Cited by 3 publications

(4 citation statements)

References 3 publications

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“…In their work, Vachalek et al [25] focus on the design and construction of a prototype of a universal robotic vehicle used for laboratory and study purposes. The chassis of the robot is designed with 6 mm and 2 mm thick dural aluminium plates.…”

Section: Discussionmentioning

confidence: 99%

Measurement of a Vibration on a Robotic Vehicle

Klimenda

Cizek

Suszyński

2022

Sensors

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This article deals with the design and construction of a robotic vehicle. The first part of the paper focuses on the selection of suitable variants for the robotic vehicle arrangement, i.e., frame, electric motors with gearboxes, wheels, steering and accumulators. Based on the selection of individual components, the robotic vehicle was built. An important part of the robotic vehicle was the design of the suspension of the front wheels. The resulting shape of the springs was experimentally developed from several design variants and subsequently produced by an additive manufacturing process. The last part of article is devoted to the experimental measurement of the acceleration transfer to the upper part of the frame during the passage of the robotic vehicle over differently arranged obstacles. Experimental measurements measured the accelerations that are transferred to the top of the robotic vehicle frame when the front wheels of the vehicle cross over the obstacle (obstacles). The maximum acceleration values are 0.0588 m/s2 in the x-axis, 0.0149 m/s2 in the y-axis and 0.5755 m/s2 in the z-axis. This experimental solution verifies the stiffness of the designed frame and the damping effect of the selected material of the designed springs on the front wheels of the robotic vehicle.

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Section: Discussionmentioning

confidence: 99%

Measurement of a Vibration on a Robotic Vehicle

Klimenda

Cizek

Suszyński

2022

Sensors

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“…1), which is equipped with an omni-directional (Meccanum) drivetrain, includes a powerful computing module used to control the MRS [1], [2], [3], [4]. The dimensions of the MRS are fixed to be approximately 1000 mm x 800 mm x 400 mm (L x W x H) and the total mass including the robotic arm is 90 kilograms.…”

Section: Description Of the Mobile Robotic Systemmentioning

confidence: 99%

Measuring Distances Using the 3D Optical Device for the Needs of Mobile Robotics

Vachálek¹,

Rovný²,

Palenčár³

et al. 2016

TransVSBms

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This paper presents the collision-free operation of a robotic arm mounted on a mobile robotic unit, using the MS Windows Kinect 3D optical system. The 3D optical system is used for measuring distances and aiding the collision-free manipulation of objects by means of the robotic arm installed on the mobile robotic system (MRS). Attaching of the optical system directly to the robotic arm, essentially, ensures the autonomy of the overall system. The MRS is capable of recognizing the predefined objects in the three-dimensional space as well as automatically approaching and manipulating them using the robotic arm. The aim of this article is to present the algorithms used in the MRS to guarantee the collision-free operation of the system. The novelty of our approach lies in the a priori collision avoidance strategy instead of solving collision states as they occur. In addition, the article presents the problem of the localization of the objects in the robot's surrounding. For this purpose, the balls randomly placed on the floor were localized by the MRS, estimating their real coordinates. Instead of using the standard RGB color space, we propose to utilize the HSV color space in order to enhance the process of objects recognition since the HSV color space provides the more consistent results in the case of varying intensity of the ambient light. AbstraktPríspevok sa zaoberá bezkolíznou manipuláciou ramena mobilného robota s využitím 3D optického kamerového systému MS Windows Kinect. 3D optický systém slúži pre potreby merania vzdialeností a následnou bezkolíznou manipuláciou s nimi na použitom mobilnom robotickom systéme (MRS), zaujímave je jeho konštrukčné umiestnenie priamo na ramene robota pre zachovanie autómnosti celého systemu. MRS je technologický mobilný robotický demonštrátor, kompletne vyvinutý na našom pracovisku a jeho úlohou je oboznámiť študentov a odbornú verejnosť s možnosťami súčasnej mobilnej robotiky. MRS dokáže rozpoznávať v priestore vopred zadefinované objekty priblížiť sa autonómne k nim a za pomoci robotického ramena bezkolízie aj s nimi

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“…Its advantage in comparison with professional counterparts lies in relative simplicity and an obvious economic advantage. As this system is primarily meant for the videogame industry, several modifications were necessary for its utilization on the MRS [1], including its integration to different software environments, especially Matlab.…”

Section: Description Of the Ms Windows Kinect 3d Optical Devicementioning

confidence: 99%

“…The goal is to evaluate the coordinates of the object in the local coordinate system of Kinect and to transform them to global coordinate system of the MRS [1]. The emphasis was placed on the in-depth image segmentation.…”

Section: Our Solution Of the Taskmentioning

confidence: 99%

Localization of Objects Using the Ms Windows Kinect 3D Optical Device with Utilization of the Depth Image Technology

Vachálek¹,

Géci²,

Rovný³

et al. 2015

TransVSBms

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The paper deals with the problem of object recognition for the needs of mobile robotic systems (MRS). The emphasis was placed on the segmentation of an in-depth image and noise filtration. MS Kinect was used to evaluate the potential of object location taking advantage of the indepth image. This tool, being an affordable alternative to expensive devices based on 3D laser scanning, was deployed in series of experiments focused on object location in its field of vision. In our case, balls with fixed diameter were used as objects for 3D location. AbstraktPríspevok sa zaoberá problémom rozoznávania objektov pre potreby mobilnej robotiky a bol vypracovaný s dôrazom na hĺbkový obraz pri segmentácii a filtrácii rušivých informácií. Pre posúdenie potenciálu hľadania objektu na hĺbkovom obrázku bol použitý MS Kinect, nakoľko je to lacná alternatíva k drahým laserovým 3D snímačom. Za pomoci neho boli vykonane experimenty orientované na vyhľadávanie objektov v jeho zornom poli. V konkrétnom prípade riešeného v tomto príspevku sa jedná o loptičky s pevne stanoveným priemerom.

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Design and Construction of a Robotic Vehicle with Omni-directional Mecanum Wheels

Cited by 3 publications

References 3 publications

Measurement of a Vibration on a Robotic Vehicle

Measurement of a Vibration on a Robotic Vehicle

Measuring Distances Using the 3D Optical Device for the Needs of Mobile Robotics

Localization of Objects Using the Ms Windows Kinect 3D Optical Device with Utilization of the Depth Image Technology

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