Modeling and Stress Analysis of a Frame with a Suspension of a Mars Rover

Ptak, Piotr; Pierzgalski, Maciej; Cekus, Dawid; Sokół, Krzysztof

doi:10.1016/j.proeng.2017.02.215

Cited by 7 publications

(5 citation statements)

References 4 publications

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“…Over the years Authors of this paper have developed mobile platforms in different configurations. The first one [9] was the one with bogie suspension type, which was used in University Rover Challenge (URC) and took 6 th place in 2015. The next configuration used rocker-bogie suspension [12] made of cylindrical profiles.…”

Section: Fig 2 Rocker-bogie Suspension At Workmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Sokół,

Pierzgalski

2021

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Unmanned vehicles are often used in everyday life, mostly by rescue teams or scientists exploring new terrains. In those constructions, the suspension has constant dimensions, which leads to many disadvantages and limits the application area. The solution to these problems can be creating a six-wheeled mobile platform that can dynamically change the wheelbase in relation to the area of action or terrain inclination angle. The active change in location of the center of gravity gives a possibility to access sloppy obstacles not available with classical suspensions. The main scope of this study is to investigate the influence of material properties on vibration frequency at different lengths of suspension members. The obtained results will allow finding the optimum material for producing a prototype unit.

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Section: Fig 2 Rocker-bogie Suspension At Workmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Sokół,

Pierzgalski

2021

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“…Advances computer modeling can be useful to increase the efficiency of designed machines, by introducing required modifications to the mechanical construction, depending on the results obtained during virtual tests. Currently, numerous computer programs, such CATIA, SimDesigner, ADAMS, or SolidWorks software, support researchers in virtual prototyping of machines, including walking robots, for instance, see papers [19][20][21]. In our study we also designed different walking robots, with different numbers of limbs and their different structures.…”

Section: Prototypes Of Different Walking Robotsmentioning

confidence: 99%

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Grzelczyk¹,

Awrejcewicz²

2020

Dynamical Systems Theory

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In this chapter, we developed and investigated numerically a general kinematic model of a multi-legged hybrid robot equipped with a crab-like and/or mammallike legs. To drive the robot's limbs, a novel generator of gait was employed and tested. The simulation model developed in Mathematica is suitable for virtual study and visualization of the locomotion process. In contrast to our previous papers, in this study we focused especially on precise control of the position of the robot during walking in different directions. In our study we were able to simultaneously control all six spatial degrees of freedom of the robot's body, as well as all the robot's legs. Therefore, the investigated robot can be considered and used as a fully controlled walking Stewart platform. What is more, the used algorithm can also be successfully employed to coordinate and control all limbs of the robot on unstable or vibrating ground. As an example, it can be used to stabilize spatial position of the robot when the supporting ground becomes vibrating or unstable, and it will keep the robot stable and prevent it from falling over. Eventually, the developed simulation algorithms can be relatively simply adopted to control real constructions of different multi-legged robots.

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“…Advances computer modeling can be useful to increase the efficiency of designed machines, by introducing required modifications to the mechanical construction, depending on the results obtained during virtual tests. Currently, numerous computer programs such Catia, SimDesigner, Adams or SolidWorks software, support researchers in virtual prototyping of machines, including walking robots, for instance, see papers [13][14][15]. In our study we also designed different walking robots, with different numbers of limbs and their different structures.…”

Section: Prototypes Of Different Walking Robotsmentioning

confidence: 99%

Control of the Multi-Legged Robots on Planar, Unstable and Vibrating Ground

Grzelczyk

2019

RAEJ

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In this paper, we developed and investigated numerically a general kinematic model of a multi-legged hybrid robot equipped with a crab-like and/or mammal-like legs. To drive the robot’s limbs, a novel generator of gait was employed and tested. The simulation model developed in Mathematica is suitable for virtual study and visualization of the locomotion process. In contrast to our previous studies, in this paper we focused only on precise control the position of the robot during walking in different directions. We are able to simultaneous control all six spatial degrees-of-freedom of the robot’s body (three deviations and three rotations along and around three different axes, respectively), as well as all robot’s legs. As a result, the investigated robot can be considered and used as a fully controlled walking Stewart platform. What is more, the used algorithm can also be successfully employed to coordination and control all limbs of the robot on unstable or vibrating ground. As an example, the control algorithm can be used to stabilize spatial position of the robot when the supporting ground becomes vibrating or unstable, and it will keep the robot stable and prevent it from falling over. Since the recent versions of Mathematica allows to communicate with different microcontrollers such as Arduino Uno or Raspberry Pi, the developed simulation algorithms can be relatively simply adopted to control real constructions of different multi-legged robots.

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Modeling and Stress Analysis of a Frame with a Suspension of a Mars Rover

Cited by 7 publications

References 4 publications

Bulletin of the Polish Academy of Sciences: Technical Sciences

Bulletin of the Polish Academy of Sciences: Technical Sciences

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Control of the Multi-Legged Robots on Planar, Unstable and Vibrating Ground

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