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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Design of Model of a Walking Autonomous Mechanism and its Simulation of Movements in Difficult Terrain
Szabari, Mikuláš ; Jánoš,, Rudolf (referee) ; Bobovský,, Zdenko (referee) ; Knoflíček, Radek (advisor)
The first part of the work is devoted to the current state, which discusses the design and step cycles of legged mechanisms and also the resistant terrain. The following second part critically evaluates the current state and defines the solved problem. The third part sets specific goals and creates a work procedure. The solution of the work follows by fourth part, which realizes the morphological analysis of the structure of the legged mechanism and the analysis of the resistant terrain in which the mechanism moves. The fifth part is devoted to the creation of models of legged mechanisms, its initial test and the choice of a specific construction of a legged mechanism for resistant terrain. The following sixth part simulates the movement of the legged mechanism and deals with its optimization. The simulation is confirmed by the experiment performed in the seventh part. The end of the work is devoted to contributions, discussion of results and conclusion.
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COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
Polach, P. ; Anderle, Milan ; Zezula, Pavel ; Papáček, Štěpán
A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.
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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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