Modellingand simulation of pneumatic system operation of mobile robot

Simple item page
dc.citation.epage11
dc.citation.issueVolume 6, № 2
dc.citation.journalTitleUkrainian Journal of Mechanical Engineering and Materials Science
dc.citation.spage1
dc.contributor.affiliationLviv Polytechnic National University
dc.contributor.authorKorendiy, Vitaliy
dc.contributor.authorKachur, Oleksandr
dc.contributor.authorHavrylchenko, Oleksandr
dc.contributor.authorLozynskyy, Vasyl
dc.date.accessioned2022-11-23T10:20:48Z
dc.date.available2022-11-23T10:20:48Z
dc.date.issued2020
dc.date.submitted2022
dc.description.abstractProblem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.
dc.format.pages1-11
dc.identifier.citationModellingand simulation of pneumatic system operation of mobile robot / Vitaliy Korendiy, Oleksandr Kachur, Oleksandr Havrylchenko, Vasyl Lozynskyy // Ukrainian Journal of Mechanical Engineering and Materials Science. – Lviv : Lviv Politechnic Publishing House, 2020. – Volume 6, № 2. – P. 1–11. – Bibliography: 14 titles.
dc.identifier.doihttps://doi.org/10.23939/ujmems2020.02.001
dc.identifier.urihttps://ena.lpnu.ua/handle/ntb/57202
dc.language.isoen
dc.publisherLviv Politechnic Publishing House
dc.relation.ispartofUkrainian Journal of Mechanical Engineering and Materials Science
dc.relation.references[1] J. L. Jones, A. M. Flynn, B. A. Seiger, Mobile Robots: Inspiration to Implementation. Boka Raton, Fl: CRC Press, 2019. [2] J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms. Cham, Switzerland: Springer, 2014. [3] A. J. Kurdila, P. Ben-Tzvi, Dynamics and Control of Robotic Systems. Hoboken, NJ: Wiley, 2019. [4] X Li, X. Tang, “Position error calibration analysis of a series orthogonal structure robot”, Modern Machinery, issue 1, TP242, 2017. [5] V. Zhoga, V. Skakunov, I. Shamanov, and A. Gavrilov, “Programmable Movement Synthesis for the Mobile Robot with the Orthogonal Walking Drivers”, in Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Cham, 2016, pp. 135–147. [6] A. E. Gavrilov, V. V. Zhoga, and P. V. Fedchenkov, “Synthesis of optimal program law for movement of a robot with orthogonal walking drives”, Journal of Computer and Systems Sciences International, vol. 50, issue 5, pp. 847–857, October 2011. [7] B. Deepak, M. Bahubalendruni, and B. Biswal, “Development of in-pipe robots for inspection and cleaning tasks”, International Journal of Intelligent Unmanned Systems, vol. 4, no. 3, pp. 182–210, 2016. [8] V. M. Korendiy, O. Yu. Kachur, V. I. Gurey, O. V. Lanets, “Modelyuvannya rukhu mobilnoho robota z pnevmatychnym pryvodom ta ortohonalnym krokuyuchym rushiyem” [“Modelling the motion of mobile robot with pneumatic drive and orthogonal walking mover”], in Proc. of 14th International Symposium of Ukrainian Mechanical Engineers in Lviv, Lviv, Ukraine, May 23–24, 2019, pp. 79–80. [in Ukrainian]. [9] V. Korendiy, R. Zinko, D. Muzychka, “Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive”, Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 5, no. 1, pp. 61–72, 2019. [10] V. Korendiy, R. Zinko, Yu. Cherevko, “Structural and kinematic analysis of pantograph-type manipulator with three degrees of freedom”, Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 5, no. 2, pp. 68–82, 2019. [11] V. Korendiy, R. Zinko, V. Lozynskyy, O. Havrylchenko, “Design and operational peculiarities of four degree-of-freedom double-legged robot with pneumatic drive and turning mechanism”, Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 6, no. 1, pp. 54–71, 2020. [12] I. L. Krivts, G. V. Krejnin, Pneumatic Actuating Systems for Automatic Equipment: Structure and Design. Boca Raton: CRC Press, 2016. [13] D. B. Marghitu, Mechanisms and Robots Analysis with MATLAB®. London, UK: Springer-Verlag, 2009. [14] K. Russell, Q. Shen, R. S. Sodhi, Kinematics and Dynamics of Mechanical Systems Implementation in MATLAB® and SimMechanics®. Boca Raton, Fl: CRC Press, 2019.
dc.subjectpneumatic drive, walking robot, orthogonal system, kinematic analysis, turning mechanism, curvilinear locomotion, trajectory
dc.titleModellingand simulation of pneumatic system operation of mobile robot
dc.typeArticle

Files

Original bundle

Now showing 1 - 1 of 1
Thumbnail Image
Name:
003-013.pdf
Size:
744.95 KB
Format:
Adobe Portable Document Format
Download

Collections

Ukrainian Journal of Mechanical Engineering and Materials Science. – 2020. – Vol. 6, No. 2