Design and Mechanical Analyses of Mobile Robot with Swerve Driving System

Yıl 2024, Cilt: 13 Sayı: 4, 66 - 84, 30.12.2024

Oğuz Mısır , Melike Beyazlı , Sümeyye Alp , Görkem Burak Taşkın , Zeynep Isık

https://doi.org/10.46810/tdfd.1506516

Öz

The use of mobile robots has become increasingly prevalent in a variety of sectors including industry, healthcare, logistics, and services. Among the most crucial attributes of these robots for their intended applications is their capacity to transport payloads. Autonomous mobile vehicles that are capable of carrying payloads are robots that process the data received from their environment through the electronic components. They contain and deliver the load to the target location in accordance with this data. This study presents the design of a mobile robot with a scissor lift system and a swerve driving system. Finite element analysis is employed to investigate the stress and deformation behavior of the designed vehicle under load. The suitability of the materials used for the design is then checked as a result of the analyses. Following this, the ability of the real-time driving algorithms to act in possible scenarios is tested in a simulation environment.

Anahtar Kelimeler

Finite element analysis, Mobile robot, Autonomous

Kaynakça

• Haruna AI, Sankar R, Samaila A. Design and development of an instructional mobile robot for effective learning of material handling in mechanical workshops in universities. Mater Today Proc. 2023.
• Corke P. Robotics, Vision and Control: Fundamental Algorithms in MATLAB®. 1st ed. Berlin: Springer-Verlag; 2011.
• Tagliavini L, Colucci G, Botta A, Cavallone P, Baglieri L, Quaglia G, et al. Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies. J Intell Robot Syst. 2022;106(3).
• Raikwar S, Fehrmann J, Herlitzius T. Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design. Comput Electron Agric. 2022; 202:105432.
• Yamaç Hİ, Yılmaz T. Mobil Robotlar için Yük Altındaki Davranış Analizinin İncelenmesi. Fırat Üniversitesi Mühendislik Bilimleri Dergisi. 2022;34(1):433-8.
• Roland Siegwart and Illah R. Nourbakhsh, Introduction to Autonomous Mobile Robots, 1st ed. Cambridge, Massachusetts: MIT Press; 2004.
• Demir C, Bozdemir M. Swedish tekerlekli mobil robot tasarımı ve 3b yazıcıyla imalatı, 4th International Congress On 3d Printing (Additive Manufacturıng) Technologies and Digital Industry, Antalya: 2019. p. 144-153.
• Huang H, Gao J. Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots. Mathematics. 2024;12(10):1458.
• Nikishkov GP. Introduction To The Finite Element Method. Japan: 2004 Lecture Notes. University of Aizu, Aizu-Wakamatsu 965-8580; 2004
• Baskoro CHAHB, Saputra HM, Mirdanies M, Susanti V, Radzi MF, Aziz RIA. An Autonomous Mobile Robot Platform for Medical Purpose. 2020 International Conference on Sustainable Energy Engineering and Application (ICSEEA). Tangerang: IEEE; 2020. p. 41-44.
• Yan SYW, Chamniprasart K, Phueakthong P, Pinrath N. Autonomous Mobile Robot for Material Handling in an Industrial Plant. The Annual Conference on Engineering and Information Technology. Osaka: ACEAIT; 2023.
• Dhelika R, Hadi AF, Yusuf PA. Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility. Applied Sciences. 2021;11(23):11356.
• Zhao Z, Xie P, Meng MQ-H. ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots. arXiv preprint arXiv:2407.10127 (2024).
• Demir N, Sucuoglu HS, Bogrekci I, Demircioglu P. Structural & Dynamic Analyses and Simulation of Mobile Transportation Robot. Int. J. of 3D Printing Tech. Dig. Ind. 2021; 5(3): 587- 595.
• Prabhakaran S, Aravinth KT, Adhik N, Vikram R. Design and Analysis of Autonomous Mobile Robot. Nat. Volatiles & Essent. Oils. 2021; 8(5): 3020-3030.
• Koca YB, Gökçe B, Aslan Y. ROS/Gazebo Ortamında Tank Sürüş Özellikli Mobil Bir Robotun Similasyonu. Journal of Materials and Mechatronics: A (JournalMM). 202; 1(1), 29-41.
• Ağralı E, Çavaş M. V-REP Robotik Simülatör ile Robot Kol Simülasyonu. Fırat Üniversitesi Mühendislik Bilimleri Dergisi. 2020;32(2):435-44.
• Akin JE. Finite Element Analysis Concepts via SolidWorks. Rice University. Houston, Texas; 2009.
• Aksoy S. Makas Platformlu Mobil Robot Tasarımı ve Analizi [Bitirme Tezi]. Konya: Konya Teknik Üniversitesi Mühendislik ve Doğa Bilimleri Fakültesi; 2023.
• Madier D. An Introduction to the Fundamentals of Mesh Generation in Finite Element Analysis. FEA Academy; 2023
• Ansys. The Fundamentals of FEA Meshing for Structural Analysis. 2021 April 28 [cited 2024 September 28]. Available from: https://www.ansys.com/blog/fundamentals-of-fea-meshing-for-structural-analysis
• Cadsay. Ansys nedir?. [cited 2024 April 28]. Available from: https://cadsay.com/ansys-nedir
• Coppelia Robotics. CoppeliaSim. [cited 2024 April 27]. Available from: https://www.mathworks.com/products/connections/product_detail/coppeliasim.html
• Büyükarslan P. Spyder Nedir? Nasıl Kurulur?. [cited 2024 April 30]. Available from: https://www.sistemlinux.org/2018/05/spyder-nedir-nasil-kurulur.html
• Adar NG. Mobil İnsansı Robot Tasarımı İmalatı ve Kontrolü [Doktora Tezi]. Sakarya: Sakarya Üniversitesi Fen Bilimleri Enstitüsü; 2016.
• van der Velde P. Swerve drive introduction. 2022 December 4 [cited 2023 Jun 13]. Available from: https://www.petrikvandervelde.nl/posts/Swerve-drive-introduction
• Chiefdelphi, Whitepaper: Swerve Drive Skew and Second Order Kinematics. 2022 November [cited 2023 Jun 10]. Available from: https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964
• Gong Z, Nie Z, Liu Q, Liu XJ. Design and control of a multi-mobile-robot cooperative transport system based on a novel six degree-of-freedom connector. ISA Trans. 2023;139:606-20.
• Sukop M, Grytsiv M, Jánoš R, Semjon J. Simple Ultrasonic-Based Localization System for Mobile Robots. Applied Science. 2024;14(9):3625.
• Akyol S, Uçar A. Rp-Lidar ve Mobil Robot Kullanılarak Eş Zamanlı Konum Belirleme ve Haritalama. Fırat Üniversitesi Mühendislik Bilimleri Dergisi. 2019;31(1):137-43.
• Güngör O. Kaçak Elektrik Kullanımının GSM Aracılığıyla Takibi. EMO Bilimsel Dergi. 2015;4(8):29-34.
• Nalbantoğlu V, Seymen B. Ataletsel Seyrüsefer Sistemleri. Mühendis ve Makina. 2007;48(566):7-13.
• JR Callister WD, Rethwisch DG. Materials Science and Engineering: An Introduction. 10th ed. Hoboken, NJ: Wiley; 2018.
• FEATips. ANSYS Mesh Metrics Explained. 2022 November 21 [cited 2024 June 15]. Available from: https://featips.com/2022/11/21/ansys-mesh-metrics-explained/
• Simscale. Mesh Quality. 2024 July 30 [cited 2024 September 20]. Available from: https://www.simscale.com/docs/simulation-setup/meshing/mesh-quality/
• Bommes D, Lévy B, Pietroni N, Puppo E, Silva C, Tarini M, et al. Quad-Mesh Generation and Processing: A Survey. Computer Graphics Forum. 2013;32(6): 51-76.
• Motooka Y, Noguchi S, Igarashi H. Evaluation of Hexahedral Mesh Quality for Finite Element Method in Electromagnetics. Materials Science Forum. 2010;670:318–324.