ROBOTS: - PowerPoint PPT Presentation

JasminFlorian
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  1. ROBOTS: Rollers and Walkers Larry Clark

  2. TOPICS • MOBILE ROBOTS • WHEELED ROBOTS • WHEELED ROBOT PHYSICS • LEGGED ROBOTS

  3. MOBILE ROBOTS • TYPES • Wheeled • Legged • Serpentine Robots • Difficulties of Mobile Robots • FMSs & AGVs Sinusoidal

  4. WHEELED ROBOTS • Pros • Cons • Types • Four Wheeled • Three Wheeled • Synchronous drive system • Turtle • Tracked • Six wheeled • terragator

  5. WHEELED ROBOTS • Sideways Motion • Stanford wheel • Illanator wheel • Uranus

  6. 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

  7. Legged Robots • Pros • Soil Mechanics • Cons • Classes • Static stability • Dynamic stability

  8. Legged Robots • RM3 • One-legged hopping machine • Multi-legged hopping robots • Dynamic walk • Inverted-pendulum motions • BIPER series

  9. Legged Robots • Adaptive gaits • PV11 • Titian III • Pantomec leg mechanism • Energy efficiency • Positive work mode • Isometric mode • Negative work mode • Specific resistance

  10. Legged Robots • Leg Motion • Coupled thrust and support motions • Gravitationally decoupled actuator • Pantograph mechanism • Odex 1