Mobile robot concept with walking wheels made of rotary segments
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Date
2017
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
Crossing over obstacles or riding up in steep
terrain is still not completely solved problem in wheeled-mobile
robotics. This paper describes a concept of four-wheeled mobile
robot with unique patented wheels made of rotary segments.
Rotation of segments changes the surface of wheels from normal
wheel for movement on roads or flat ground to wheels for
movement in terrain, over obstacles or upstairs. For control of
walking-wheels a drive stored in an aluminium frame was build.
The drive allows to set its shaft into two position. One for control
of movement of the drive and second for control of opening and
closing of wheel segments. Current feedback regulator is in the
frame of drive. PLC with smart device controller (SDC) structure
is used for control of the mobile robot. It allows to control drives
without specialized motion control units. The main goal of this
paper is to describe a mechanical construction of this mobile
robot, its drives and basics of software motion control for further
testing of mobile robot wheels on different terrains in different
environments.
Description
Subject(s)
mobile robot, motion control, PLC, walking wheel
Citation
ISSN
ISBN
978-150904862-5