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Title: Design of Mobile Robot with Strandbeest Walking Mechanism to Overcome the Set Type Obstacle
Authors: Kavlak, Koray
Kartal, I.A.
Keywords: coupler curve
Legged mobile robot
mechanism simulation
set type obstacle
Strandbeest walking mechanism
Issue Date: 2021
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: Multi legged robots and mechanisms are successfully used in spatial studies, first aid and search and rescue activities in disasters such as earthquakes, defense industry, detection and destruction of explosive materials such as mines and bombs, counter-terrorism, mining, medicine and many other fields. This success depends on the realization of the mechanism design that will enable the robot to be controlled much more easily and to create a model that can control itself by minimizing the amount of energy consumed. In this paper, the ideal coupler curve was drawn using the Cinderalla program for the mobile robot with Strandbeest walking mechanism to move on a smooth surface and the link distances that provided this curve were determined. Then, different coupler curves were drawn by making changes in the link distances in order to overcome the set type obstacle. Solid modelling of the robot was done in the SolidWorks program. Simulations were also made in the Algodoo program to overcome the set type obstacle. © 2021 IEEE.
Description: 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2021 -- 11 June 2021 through 13 June 2021 -- -- 171163
ISBN: 9781665440585
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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