- Tytuł:
- Type synthesis, modelling and analysis of the manipulator for wheel-legged robot
- Autorzy:
-
Szrek, J.
Muraszkowski, A.
Sperzyński, P. - Powiązania:
- https://bibliotekanauki.pl/articles/386987.pdf
- Data publikacji:
- 2016
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
mobile manipulator
multibody dynamics analysis
wheel-legged platform
robot mobilny
manipulator mobilny
dynamika układów wieloczłonowych - Opis:
- The aim of this article is to present the concept of wheel-legged mobile manipulator, which is a combination of mobile platform with specially selected suspension system and a manipulator. First, a literature review was performed and own solution proposed. The kinematic structure of manipulator, selected simulation results, physical model and the concept of the control system has been presented. Geometry synthesis was used to design basic dimension. Structural synthesis was performed according to the intermediate chain method. Simulations were performed using the multibody dynamics simulation software. New approach in the field of the mobile manipulators was presented as a result.
- Źródło:
-
Acta Mechanica et Automatica; 2016, 10, 2; 87-91
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł