Su yüzeyinde titreşime dayalı hareket ile gidebilen yeni bir robot tasarımı
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Date
2019-09-12
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Bursa Uludağ Üniversitesi
Abstract
Bu çalışmada, titreşime dayalı hareket aracılığı ile ilerleyebilen yeni bir amfibi robot tasarımı tanıtılmaktadır. Tasarım daha önceden geliştirilmiş ve titreşime dayalı hareketi test edilmiş bir karasal robot örnek alınarak yapılmıştır. Bu robot yapısı, U şeklinde elastik kavisli bir kiriş ile omurganın merkezine monte edilmiş ve tüm robotun serbest titreşim yapmasına neden olan küçük dönen bir kütleden oluşmaktadır. Mekanizma serbest titreşime dayalı zıplama yaparak ilerleme davranışı göstermektedir. Yeni tasarlanan robotun karasal zeminde ve su yüzeyinde zıplama yaparak enerji verimli bir şekilde ilerlemesi başarılı bir şekilde gerçekleştirilmiştir. Farklı titreşim frekanslarının mekanizmanın ilerleme hızına ve yer değiştirme maliyetine (CoT) etkisi deneysel olarak incelenmiştir. Ayrıca deneyler yarı eliptik ve üçgen ayak modellerinde üretilen altı farklı ayak yapısı için de tekrarlanmış ve ayak modellerinin karasal ve sucul ilerlemelerdeki performansı tartışılmıştır. Tasarlanmış robot için elde edilen yer değiştirme maliyeti literatürdeki bazı robotlar ve canlıların ki ile karşılaştırılmıştır.
In this study, a novel amphibious robot design which has vibration based locomotion is presented. The design was done by using an example of a terrestrial robot based on vibration that was previously developed and tested. This robot structure consists of a U-shaped elastic curved beam and a small rotating mass, mounted on the center of the spine, that induces free vibration of the entire robot body. The mechanism exhibits hopping locomotion behavior based on free vibration. The energy efficient hopping locomotions of the newly designed robot both on terrestrial and water surfaces were successfully accomplished. The effect of different vibration frequencies on the locomotion velocity and the Cost of Transport (CoT) of the mechanism were investigated experimentally. In addition to these, experiments were also repeated for six different foot structures produced in semi-elliptic and triangular models, and the locomotion performance of foot models both on terrestrial and water surfaces was discussed. The Cost of Transport of the designed robot was compared with that of some robots and creatures in the literature.
In this study, a novel amphibious robot design which has vibration based locomotion is presented. The design was done by using an example of a terrestrial robot based on vibration that was previously developed and tested. This robot structure consists of a U-shaped elastic curved beam and a small rotating mass, mounted on the center of the spine, that induces free vibration of the entire robot body. The mechanism exhibits hopping locomotion behavior based on free vibration. The energy efficient hopping locomotions of the newly designed robot both on terrestrial and water surfaces were successfully accomplished. The effect of different vibration frequencies on the locomotion velocity and the Cost of Transport (CoT) of the mechanism were investigated experimentally. In addition to these, experiments were also repeated for six different foot structures produced in semi-elliptic and triangular models, and the locomotion performance of foot models both on terrestrial and water surfaces was discussed. The Cost of Transport of the designed robot was compared with that of some robots and creatures in the literature.
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Keywords
Amfibi robot mekanizması, Amphibious robot mechanism, Titreşime dayalı ilerleme, Enerji verimli ilerleme, Farklı ayak modelleri ile ilerleme, Vibration-based locomotion, Energy efficient locomotion, Locomotion with different foot models
Citation
Tapan , A. B. (2019). Su yüzeyinde titreşime dayalı hareket ile gidebilen yeni bir robot tasarımı. Yayınlanmamış yüksek lisans tezi. Bursa Uludağ Üniversitesi Fen Bilimleri Enstitüsü.