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ROBOTS: PowerPoint PPT Presentation

ROBOTS: Rollers and Walkers Larry Clark TOPICS MOBILE ROBOTS WHEELED ROBOTS WHEELED ROBOT PHYSICS LEGGED ROBOTS MOBILE ROBOTS TYPES Wheeled Legged Serpentine Robots Difficulties of Mobile Ro bots FMSs & AGVs Sinusoidal WHEELED ROBOTS Pros Cons Types Four Wheeled

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ROBOTS:

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Robots l.jpg

ROBOTS:

Rollers and Walkers

Larry Clark


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TOPICS

  • MOBILE ROBOTS

  • WHEELED ROBOTS

  • WHEELED ROBOT PHYSICS

  • LEGGED ROBOTS


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MOBILE ROBOTS

  • TYPES

    • Wheeled

    • Legged

  • Serpentine Robots

  • Difficulties of Mobile Robots

  • FMSs & AGVs

Sinusoidal


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WHEELED ROBOTS

  • Pros

  • Cons

  • Types

    • Four Wheeled

    • Three Wheeled

      • Synchronous drive system

    • Turtle

    • Tracked

    • Six wheeled

      • terragator


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WHEELED ROBOTS

  • Sideways Motion

    • Stanford wheel

    • Illanator wheel

      • Uranus


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WHEELED ROBOT PHYSICS

Ft = Fa + Fr + Fd + Fg Newton

Power = traction force x vehicle speed / transmission efficiency

Motor torque = power / 2π motor velocity

Battery energy = traction force x distance traveled


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Legged Robots

  • Pros

    • Soil Mechanics

  • Cons

  • Classes

    • Static stability

    • Dynamic stability


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Legged Robots

  • RM3

  • One-legged hopping machine

  • Multi-legged hopping robots

  • Dynamic walk

    • Inverted-pendulum motions

      • BIPER series


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Legged Robots

  • Adaptive gaits

    • PV11

    • Titian III

      • Pantomec leg mechanism

  • Energy efficiency

    • Positive work mode

    • Isometric mode

    • Negative work mode

    • Specific resistance


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Legged Robots

  • Leg Motion

    • Coupled thrust and support motions

    • Gravitationally decoupled actuator

    • Pantograph mechanism

  • Odex 1


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