Dynamic modeling of two identical coupled spherical robots

Abstract

Amac¸: Bu aras¸tırma, ku¨resel robotların denge, yalpalama ve kayma gibi problemleri ve c¸ok yo¨nlu¨ mobil robotların viraj alma problemlerini c¸o¨zmek ic¸in tasarlanmıs¸ birbirine bag˘lı iki o¨zdes¸ ku¨resel robotun dinamik modellemesini incelemek amacıyla yapılmıs¸tır. Birbirine bag˘lı iki o¨zdes¸ ku¨resel robotun dinamik modellemesindeki temel amacımız, c¸ok yo¨nlu¨ mobil robotlarda mecanum tekerlekler yerine birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımı kullanarak c¸ok yo¨nlu¨ bir mobil robot tasarlamaktır. Materyal ve Yo¨ntem: Bu tezde, MSC Adams programı kullanılarak tek bir ku¨resel robot ve birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik analizleri yapılmıs¸tır. Bu dinamik analizler sonucunda tasarımımızın uygulanabilirlig˘i kontrol edilmis¸tir. Sonuc¸ olarak, dinamik analiz sonuc¸larını da kontrol etmek ic¸in farklı yol profilleri u¨zerinde deneysel c¸alıs¸malar yapılmıs¸tır. Bulgular: Analiz ve deneylerden elde edilen sonuc¸lara go¨re, birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik modellemesinin uygulanabilir oldug˘u go¨ru¨lmu¨s¸tu¨r. Sonuc¸: Bu c¸alıs¸mada birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik modellemesinin uygulanabilir oldug˘u anlas¸ılmıs¸tır.

Objective: This research was carried out in order to examine the dynamic modeling of two identical coupled spherical robots that are designed to solve problems such as balance, wobble, and skiddingof spherical robots and cornering problems of omnidirectional mobile robots. Our main goal in the dynamic modeling of two identical coupled spherical robots is to design an omnidirectional mobile robot by using two identical coupled spherical robot designs instead of mecanum wheels in omnidirectional mobile robots. Material and Methods: In this thesis, dynamic analyses of a single spherical robot and two identical coupled spherical robots design were made by using the MSC Adams program. As a result of these dynamic analyses, the applicability of our design has been checked. As a consequence, experimental studies were made on different road profiles in order to check the result of dynamic analyses, too. Results: According to results that made of analyses and experiments, the dynamic modeling of two identical coupled spherical robots design has been seen to be applicable. Conclusion: It was understood in this study that the dynamic modeling of two identical coupled spherical robots design is applicable.