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  • Proyek Robotika - Mobile Robot Mechanism

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    SatriyoAriez
    15 vizualizări14 pagini
    This document discusses various mechanisms for mobile robot mobility, including wheeled, legged, and articulated mechanisms. Some key wheeled mechanisms discussed are differentially driven mobile robots with and without casters, Ackerman steering, independent drive steering, and articulated drive steering. Legged mechanisms discussed include bipedal, quadruped, pentapod, and hexapod configurations. Articulated mechanisms are also mentioned. For each mechanism, advantages and disadvantages are outlined relating to factors like maneuverability, complexity, friction, and whether the movement is holonomic or non-holonomic.

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    02. Proyek Robotika - Mobile Robot Mechanism

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    This document discusses various mechanisms for mobile robot mobility, including wheeled, legged, and articulated mechanisms. Some key wheeled mechanisms discussed are differentially driven mobile robots with and without casters, Ackerman steering, independent drive steering, and articulated drive steering. Legged mechanisms discussed include bipedal, quadruped, pentapod, and hexapod configurations. Articulated mechanisms are also mentioned. For each mechanism, advantages and disadvantages are outlined relating to factors like maneuverability, complexity, friction, and whether the movement is holonomic or non-holonomic.

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    © All Rights Reserved
    Descărcați ca PDF, TXT sau citiți online pe Scribd
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    15 vizualizări14 pagini

    Proyek Robotika - Mobile Robot Mechanism

    Încărcat de

    SatriyoAriez
    This document discusses various mechanisms for mobile robot mobility, including wheeled, legged, and articulated mechanisms. Some key wheeled mechanisms discussed are differentially driven mobile robots with and without casters, Ackerman steering, independent drive steering, and articulated drive steering. Legged mechanisms discussed include bipedal, quadruped, pentapod, and hexapod configurations. Articulated mechanisms are also mentioned. For each mechanism, advantages and disadvantages are outlined relating to factors like maneuverability, complexity, friction, and whether the movement is holonomic or non-holonomic.

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    din 14

    Mobile Robot Mechanism

    Introduction to Robotics Project

    Eko Henfri B

    Politeknik Elektronika Negeri Surabaya


    Mobile Robot Mechanism
    Wheeled Mechanism
    Non Holonomic
    DDMR
    Ackerman Steering
    Independent Drive
    Articulated drive
    Etc.
    Non Holonomic
    Omni-directional
    Legged Mechanism
    Articulated Mechanism
    Steering Mechanism (DDMR #1)
    Differentially Driven Mobile Robot (with
    Caster)
    + High maneuverability
    + Simple design
    + Low friction
    - Limited for flat surface
    - Non holonomic movement
    Steering Mechanism (DDMR #2)
    Differentially Driven Mobile Robot (without
    caster)
    + High maneuverability
    + More complex design
    + Not limited on flat surface
    - High Friction
    - Non holonomic movement
    Steering Mechanism (DDMR #3)
    Differentially Driven Mobile Robot (without
    caster with balancing )
    + Very High maneuverability
    + Less complex mechanism
    + Not limited on flat surface
    + Low Friction
    - Non holonomic movement
    - Complex control implementation
    Steering Mechanism
    (Ackerman Steering)
    Ackerman Steering Mechanism
    + Low Friction
    + More stable for fast speed
    + Not limited on flat surface
    - More complex mechanism
    - Non holonomic movement
    Steering Mechanism
    (Independent Drive Steering)
    Independent Drive Steering Mechanism
    + Low Friction
    + More flexible maneuver
    + Not limited on flat surface
    - Complex mechanism
    - Non-Holonomic movement
    Steering Mechanism
    (Articulated Drive Steering)
    Articulated Drive Steering Mechanism
    + More flexible maneuver
    + Not limited on flat surface
    * Moderate Friction
    - More Complex mechanism
    - Non-Holonomic movement
    Steering Mechanism
    (Omni-Direction Drive)
    Omni-Direction Drive Steering Mechanism
    + Very flexible maneuver
    + Holonomic movement
    * Moderate Friction
    - More Complex mechanism
    - Limited on flat surface
    Legged Mechanism (Bipedal)
    Bipedal Mechanism
    + Flexible maneuver
    + Holonomic movement
    - Complex mechanical system
    - Very complex control mechanism
    Legged Mechanism (Quadruped)
    Quadruped Mechanism
    + Flexible maneuver
    + Holonomic movement
    * Medium complex control
    mechanism
    - Complex mechanical system
    Legged Mechanism (Pentapod)
    Quadruped Mechanism
    + Flexible maneuver
    + Holonomic movement
    * Medium complex control mechanism
    - Complex mechanical system
    - Not commonly used
    Legged Mechanism (Hexapod)
    Quadruped Mechanism
    + Flexible maneuver
    + Holonomic movement
    + Simple balancing mechanism
    * Less complex control mechanism
    - More Complex mechanical system
    Articulated Mechanism
    Articulated Mechanism
    + Flexible maneuver
    + Simple balancing mechanism
    - Very Complex control mechanism
    - Very Complex mechanical system

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