Öz
Kaynakça
- 1. Siegwart, R., Nourbakhsh, I., R. “Introduction to autonomous mobile robots” England: A Bradford Book, The MIT Press Cambridge, Massachusetts, London, 2004.
- 2. Silva, M. F., Machado, J. A. T., "A Historical Perspective of Legged Robots", Journal of Vibration and Control, Vol. 13, Pages 1447–1486, 2007.
- 3. Raibert, M. H., "Legged robots", Commun. ACM, Vol. 29, Pages 499-514, 1986.
- 4. Rubio, F., Valero, F., Llopis-Albert, C., “A review of mobile robots: Concepts, methods, theoretical framework, and applications”, International Journal of Advanced Robotic Systems, Vol. 16, Issue 2, Pages 1-22, 2019.
- 5. Kanjanawanishkul, K., “Omnidirectional wheeled mobile robots: wheel types and practical applications”, Int. J. Advanced Mechatronic Systems, Vol. 6, Issue 6, Pages 289-302, 2015.
- 6. Doroftei, I., Grosu, V., Spinu, V., “Omnidirectional Mobile Robot – Design and Implementation”, Bioinspiration and Robotics: Walking and Climbing Robots, Pages 511-528, Vienna, Austria, 2007.
- 7. Muthiah, P., Akilan, S. A. S., Sugumar, A., Sasidhar, S., Vishnuram, N. S. “Design of Single Drive Transmission System for Mecanum Wheels” International Conference on Mechanical, Electronics and Computer Engineering: ICMECE 2020, AIP Conference Proceedings, Vol. 2271, Issue 1, Kancheepuram, India, 2020.
- 8. Adascaliţei, F., Doroftei, I., “Practical Applications for Mobile Robots Based on Mecanum Wheels - A Systematic Survey” Proceedings of International Conference Innovations, Recent Trends and Challenges, In Mechatronics, Mechanical Engineering and New High-Tech Products Development – MECAHITECH’11, Vol. 3, Pages 112-123, Bucharest, Romania, 2011.
- 9. Jang, K., Kim, S., Park, J., “Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator”, Sensors, Vol. 21, Issue 3, Pages 890-911, 2021.
- 10. Ramasubramanian, A. K., Papakostas, N., “Operator - mobile robot collaboration for synchronized part movement”, Procedia CIRP, Vol. 97, Pages. 217–223, 2020.
- 11. Oltean, S. E., “Mobile Robot Platform with Arduino Uno and Raspberry Pi for Autonomous Navigation”, Procedia Manufacturing, Vol. 32, Pages 572-577, 2019.
- 12. Sichkar, D. P., Bezumnov, N., Voronov, V. I., Voronova, L. I., Dankovtsev, V. I., “Moving Elements of Mobile Robots Stabilization Modelling”, Systems of Signals Generating and Processing in the Field of on-Board Communications, Moscow, Russia, 2019.
- 13. Lee, H. Y., Murray, C. C., “Robotics in order picking: evaluating warehouse layouts for pick, place, and transport vehicle routing systems”, International Journal of Production Research, Vol. 27, Issue 18, Pages 5821-5841, 2018.
- 14. Cavallo, C., “All About 6061 Aluminum (Properties, Strength and Uses)”, https://www.thomasnet.com/articles/metals-metal-products/6061-aluminum/, May 04, 2021.
- 15. Tayfur, D. T., “Design and Comparison of Controller Performance on Four Mecanum Wheeled Mobile Robot” Master Thesis, Istanbul Technical University Graduate School of Science Engineering and Technology Department of Mechanical Engineering System Dynamics & Control Program, Istanbul, Turkey, 2016.
- 16. Habibian, A., Darandaashi, Y. A., Fesharakifard, R., Phadi, A., Ghafarirad, H. “Structural and Dynamic Analysis of a Wheeled Mobile Robot with different Wheel Configurations” 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Pages 527-533, Tehran, Iran, 2017.
- 17. Ettlin, A., “Rigid Body Dynamics Simulation for Robot Motion Planning” PhD thesis, Ecole Ploytecnique Federale de Lausanne University Faculty of Engineering Sciences and Techniques, Ecublens, Switzerland, 2006.
- 18. Sucuoglu, S., Bogrekci, I., Gultekin, A., Demircioglu, P., “Design, Analysis and Development Mobile Robot with Flip-Flop Motion Ability”, International Federation of Automatic Control (IFAC), Vol. 51, Issue 30, Pages 436-440, 2018.
Öz
In this study, structural and dynamic analyses were applied to the mobile transportation robot to find the structural strength and to calculate the power and torque requirements. The mobile transportation robot was designed using CAD software as two modules; mecanum wheeled locomotion module and robotic arm module, respectively. The analyses were carried on the CAE Software using the static structural and rigid body dynamics tools. In the structural analysis, the weight of the robot and the additional load (98.1 N) were applied to the body of the robot. The material of the robot body was selected as Aluminum 6061 O sheet metal. In the dynamic analysis, the operation environment and conditions were simulated in the CAE software. The structural analysis results showed that the factor of safety value was obtained as 10.282 under applied loads and this value indicates that the chassis of mobile transportation robot is supposed to carry loads reaching up to 30 kg without any functional and mechanical problem. Furthermore, from the dynamic analysis, the total torque requirement of the mobile robot was about 16.56 Nm.
Anahtar Kelimeler
Dynamic Analysis Finite Element Analysis Mecanum Wheel Mobile Robot Structural Analysis
Kaynakça
- 1. Siegwart, R., Nourbakhsh, I., R. “Introduction to autonomous mobile robots” England: A Bradford Book, The MIT Press Cambridge, Massachusetts, London, 2004.
- 2. Silva, M. F., Machado, J. A. T., "A Historical Perspective of Legged Robots", Journal of Vibration and Control, Vol. 13, Pages 1447–1486, 2007.
- 3. Raibert, M. H., "Legged robots", Commun. ACM, Vol. 29, Pages 499-514, 1986.
- 4. Rubio, F., Valero, F., Llopis-Albert, C., “A review of mobile robots: Concepts, methods, theoretical framework, and applications”, International Journal of Advanced Robotic Systems, Vol. 16, Issue 2, Pages 1-22, 2019.
- 5. Kanjanawanishkul, K., “Omnidirectional wheeled mobile robots: wheel types and practical applications”, Int. J. Advanced Mechatronic Systems, Vol. 6, Issue 6, Pages 289-302, 2015.
- 6. Doroftei, I., Grosu, V., Spinu, V., “Omnidirectional Mobile Robot – Design and Implementation”, Bioinspiration and Robotics: Walking and Climbing Robots, Pages 511-528, Vienna, Austria, 2007.
- 7. Muthiah, P., Akilan, S. A. S., Sugumar, A., Sasidhar, S., Vishnuram, N. S. “Design of Single Drive Transmission System for Mecanum Wheels” International Conference on Mechanical, Electronics and Computer Engineering: ICMECE 2020, AIP Conference Proceedings, Vol. 2271, Issue 1, Kancheepuram, India, 2020.
- 8. Adascaliţei, F., Doroftei, I., “Practical Applications for Mobile Robots Based on Mecanum Wheels - A Systematic Survey” Proceedings of International Conference Innovations, Recent Trends and Challenges, In Mechatronics, Mechanical Engineering and New High-Tech Products Development – MECAHITECH’11, Vol. 3, Pages 112-123, Bucharest, Romania, 2011.
- 9. Jang, K., Kim, S., Park, J., “Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator”, Sensors, Vol. 21, Issue 3, Pages 890-911, 2021.
- 10. Ramasubramanian, A. K., Papakostas, N., “Operator - mobile robot collaboration for synchronized part movement”, Procedia CIRP, Vol. 97, Pages. 217–223, 2020.
- 11. Oltean, S. E., “Mobile Robot Platform with Arduino Uno and Raspberry Pi for Autonomous Navigation”, Procedia Manufacturing, Vol. 32, Pages 572-577, 2019.
- 12. Sichkar, D. P., Bezumnov, N., Voronov, V. I., Voronova, L. I., Dankovtsev, V. I., “Moving Elements of Mobile Robots Stabilization Modelling”, Systems of Signals Generating and Processing in the Field of on-Board Communications, Moscow, Russia, 2019.
- 13. Lee, H. Y., Murray, C. C., “Robotics in order picking: evaluating warehouse layouts for pick, place, and transport vehicle routing systems”, International Journal of Production Research, Vol. 27, Issue 18, Pages 5821-5841, 2018.
- 14. Cavallo, C., “All About 6061 Aluminum (Properties, Strength and Uses)”, https://www.thomasnet.com/articles/metals-metal-products/6061-aluminum/, May 04, 2021.
- 15. Tayfur, D. T., “Design and Comparison of Controller Performance on Four Mecanum Wheeled Mobile Robot” Master Thesis, Istanbul Technical University Graduate School of Science Engineering and Technology Department of Mechanical Engineering System Dynamics & Control Program, Istanbul, Turkey, 2016.
- 16. Habibian, A., Darandaashi, Y. A., Fesharakifard, R., Phadi, A., Ghafarirad, H. “Structural and Dynamic Analysis of a Wheeled Mobile Robot with different Wheel Configurations” 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Pages 527-533, Tehran, Iran, 2017.
- 17. Ettlin, A., “Rigid Body Dynamics Simulation for Robot Motion Planning” PhD thesis, Ecole Ploytecnique Federale de Lausanne University Faculty of Engineering Sciences and Techniques, Ecublens, Switzerland, 2006.
- 18. Sucuoglu, S., Bogrekci, I., Gultekin, A., Demircioglu, P., “Design, Analysis and Development Mobile Robot with Flip-Flop Motion Ability”, International Federation of Automatic Control (IFAC), Vol. 51, Issue 30, Pages 436-440, 2018.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Makine Mühendisliği |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 30 Aralık 2021 |
| Gönderilme Tarihi | 8 Haziran 2021 |
| Yayımlandığı Sayı | Yıl 2021 Cilt: 5 Sayı: 3 |
Kaynak Göster
Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.