Thesis /

ROMDOC-THESIS-2017-1066

Cercetarea şi dezvoltarea unui robot cu deplasări pe suprafeţe neregulate

Gheorghe, Viorel Ionuţ
2012-06-17

Abstract: Research and Development of a Robot with Displacements on Irregular Surfaces Ph.D. Thesis Abstract Author: eng. Viorel Ionuţ GHEORGHE Scientific Coordinator: prof. dr. eng. Nicolae ALEXANDRESCU The main objective of this Thesis is the research, development and experimentation of a mobile mini-robot, designed for autonomous displacements on irregular surfaces. After a laborious and thoroughly documentation of the specialized literature in the field of mobile robots, the author has developed a new method of achieving their locomotion, namely: rolling the entire robotic structure. In this paper, the possibilities of moving a mobile robot, which has support legs radially disposed over the surface of a spherical or other shaped (here dodecahedron) body, using a rolling motion, are presented; considering the advantages of this displacement solution: rapid recovery after a collision with an obstacle, avoiding the danger of robot disabilitation in case of overturning and not least, the fact that the robot can move in any direction, without needing supplementary turns when leaving the previous position. The establishment of the technical and functional characteristics of the robot at parameters that are compatible with the ones of other existing robots, was proceeded by conceiving an original, constructive and functional solution for building the robot. This step is followed by designing the robot in correlation to the results of the design calculations, regarding the imposed technical and functional characteristics. During the whole design process, the integrating mechatronic concept for all the robot’s systems: mechanical, electronic and informatics, has been taken under consideration. The paper continues with a modeling and simulation of the robotic structure’s operation and the physical execution of the functional model of the robot with autonomous displacements. After structuring some testing procedures for the robot’s functional parameters, the experimental research on the functional model is following, with the purpose of validating the theoretical results and emphasizing future ways of constructive and functional optimization, respectively new research directions.

Keyword(s): Robotică -- Teză de doctorat ; Roboţi mobili -- Teză de doctorat
OPAC: See record in BC-UPB Web OPAC
Full Text: see files

Similar records

 

People who viewed this page also viewed:

(233)  Optimizarea conceptuală şi operaţională a instalaţiilor chimice multiscop - Voinescu, Sorin - ROMDOC-BC_UPB-THESIS-2003-000000054 (232)  Managementul congestiilor în sistemele electroenergetice în prezenţa surselor regenerabile - Boambă, Claudia-Elena - ROMDOC-THESIS-2021-2325 (230)  Roboţi mobili - Grămescu, Bogdan - ROMDOC-BOOK-2018-004 (229)  Cercetări teoretice şi experimentale privind fenomenul de revenire elastică la ambutisarea pieselor cilindrice - Axinte, Maria Crina - ROMDOC-BC_UPB-THESIS-2006-000001628 (229)  Cercetări privind dezvoltarea de interfeţe utilizator virtuale pentru aplicaţii de teleoperare în robotică - Popa, Stelian - ROMDOC-THESIS-2021-2322

 

Rate this document:

Be the first to review this document.

Discuss this document:

Start a discussion about any aspect of this document.