Design of reconfigurable mechanism for underactuated robot in the grounded applications
In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the ability to move flexibly, pass obstacles and work in both outdoor and indoor envir...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2022-12-01
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| Series: | Cogent Engineering |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/23311916.2022.2095882 |
| _version_ | 1827845926878707712 |
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| author | Ha Quang Thinh Ngo Huynh Cao Tri Nguyen Thanh Tu Danh Nguyen the Bao Phan Lu Anh Duy Khuu Minh Phat Tran Anh Duy Ngo Truong Tin |
| author_facet | Ha Quang Thinh Ngo Huynh Cao Tri Nguyen Thanh Tu Danh Nguyen the Bao Phan Lu Anh Duy Khuu Minh Phat Tran Anh Duy Ngo Truong Tin |
| author_sort | Ha Quang Thinh Ngo |
| collection | DOAJ |
| description | In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the ability to move flexibly, pass obstacles and work in both outdoor and indoor environment. In this paper, a novel design of wheel-legged platform for robotic investigation is presented. Firstly, the principle diagram of underactuated robot (UR) is outlined owing to the model of inverted pendulum. Then, several theoretical computations are suggested to ensure the ability to work as its desired control. Later, an overview of mechanical design in 3D is described as well as the design of electrical circuit is demonstrated based on these requirements. To validate the feasibility and effectiveness of our approach, several numerical simulations are carried out. |
| first_indexed | 2024-03-12T09:05:27Z |
| format | Article |
| id | doaj.art-18f0b668d44f4afd891ee807d4245f51 |
| institution | Directory Open Access Journal |
| issn | 2331-1916 |
| language | English |
| last_indexed | 2024-03-12T09:05:27Z |
| publishDate | 2022-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Cogent Engineering |
| spelling | doaj.art-18f0b668d44f4afd891ee807d4245f512023-09-02T15:18:58ZengTaylor & Francis GroupCogent Engineering2331-19162022-12-019110.1080/23311916.2022.2095882Design of reconfigurable mechanism for underactuated robot in the grounded applicationsHa Quang Thinh Ngo0Huynh Cao Tri1Nguyen Thanh Tu2Danh Nguyen the Bao3Phan Lu Anh Duy4Khuu Minh Phat5Tran Anh Duy6Ngo Truong Tin7Department of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamDepartment of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh, Viet NamIn the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the ability to move flexibly, pass obstacles and work in both outdoor and indoor environment. In this paper, a novel design of wheel-legged platform for robotic investigation is presented. Firstly, the principle diagram of underactuated robot (UR) is outlined owing to the model of inverted pendulum. Then, several theoretical computations are suggested to ensure the ability to work as its desired control. Later, an overview of mechanical design in 3D is described as well as the design of electrical circuit is demonstrated based on these requirements. To validate the feasibility and effectiveness of our approach, several numerical simulations are carried out.https://www.tandfonline.com/doi/10.1080/23311916.2022.2095882Underactuated robotmechanical designwheel-legged platformmotion control |
| spellingShingle | Ha Quang Thinh Ngo Huynh Cao Tri Nguyen Thanh Tu Danh Nguyen the Bao Phan Lu Anh Duy Khuu Minh Phat Tran Anh Duy Ngo Truong Tin Design of reconfigurable mechanism for underactuated robot in the grounded applications Cogent Engineering Underactuated robot mechanical design wheel-legged platform motion control |
| title | Design of reconfigurable mechanism for underactuated robot in the grounded applications |
| title_full | Design of reconfigurable mechanism for underactuated robot in the grounded applications |
| title_fullStr | Design of reconfigurable mechanism for underactuated robot in the grounded applications |
| title_full_unstemmed | Design of reconfigurable mechanism for underactuated robot in the grounded applications |
| title_short | Design of reconfigurable mechanism for underactuated robot in the grounded applications |
| title_sort | design of reconfigurable mechanism for underactuated robot in the grounded applications |
| topic | Underactuated robot mechanical design wheel-legged platform motion control |
| url | https://www.tandfonline.com/doi/10.1080/23311916.2022.2095882 |
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