Robotik Uygulamalar İçin Titreşime Dayalı Hareket Eden Amfibik İlerleme Mekanizması

Year 2020, Volume: 24 Issue: 1, 72 - 79, 20.04.2020

Ahmed Burak Tapan , Murat Reis

https://doi.org/10.19113/sdufenbed.558180

Abstract

Bu çalışma, robotik uygulamaları için, titreşime dayalı olarak hem karada hem de su üzerinde hareket edebilen, yenilikçi bir ilerleme mekanizmasını tanıtmaktadır. İlerleme mekanizması, su üzerinde batmadan durmasını sağlayan düşük yoğunluklu dikey kanat profiline sahip iki ayaktan ve U şeklinde yay çeliğinden üretilmiş elastik bir çubuktan oluşmaktadır. U şekilli çubuğun ortasına yerleştirilen basit bir sarkaç vasıtası ile sistem titreşime zorlanarak ilerleme gerçekleştirilmektedir. Su içerisinde dikey konumlandırılmış ayaklar salınım yaptıkça ön ve arka yüzeyler arasında oluşan basınç farkı ile robot ileri yönde hareket etmektedir. Karadaki hareketi ise elastik kirişin doğal titreşim modlarına bağlı olarak gerçekleşmektedir. Çalışmada farklı titreşim frekanslarının ilerleme hızına ve yer değiştirme maliyetine etkisi deneyler ile incelenmiş ve sonuçlar yorumlanmıştır. Buna ek olarak ön modelin yer değiştirme maliyeti (CoT) literatürdeki bazı robotlar ve canlılar ile karşılaştırılmıştır. 

Keywords

Amfibik robot, Titreşim, İlerleme, Elastik

Vibration Based Amphibious Locomotion Mechanism for Robotic Applications

Abstract

This work presents an innovative locomotion mechanism both on land and water surface based on vibration, for robotic applications. The locomotion mechanism consists of two legs with a low-density vertical wing profile that allows them to stand on water and a U-shaped elastic beam made of spring steel. The locomotion is generated by forcing the system to vibrate by means of a simple pendulum placed in the middle of the U-shaped bar. As the vertically positioned feet in the water oscillate, the robot moves in the forward direction with the pressure difference between the front and rear surfaces. The movement on the land is realized depending on the natural vibration modes of the elastic beam. In this work, the effect of different vibration frequencies on the locomotion velocity and the Cost of Transport (CoT) were investigated experimentally and the results were interpreted and discussed. In addition to these, the Cost of Transport of the preliminary model was compared with that of some robots and creatures in the literature.

Keywords

Amphibious robot, Vibration, Locomotion, Elastic

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