Design and construction of a new generation of robots
| Autor | Azam Salari Bajegani, Zahra Moeidi |
| Páginas | 31-53 |
Periódico do Núcleo de Estudos e Pesquisas sobre Gênero e Direito
Centro de Ciências Jurídicas - Universidade Federal da Paraíba
V. 8 - Nº 02 - Ano 2019 – Special Edition
ISSN | 2179-7137 | http://periodicos.ufpb.br/ojs2/index.php/ged/index
31
DESIGN AND CONSTRUCTION OF A NEW GENERATION OF
ROBOTS
Azam Salari Bajegani 1
Zahra Moeidi2
ABSTRACT: Each robot that is part of
the physical environment, should be able
to interact with humans. The dynamic
balance on the robots such as the
spherical robot cause demonstration
Various interactive behaviors. Spherical
robot is a stable and dynamic moving
robot. It only features a spherical wheel
that enables it to move in all directions,
so there is not a problem to overturn the
standing robots because its motion is in
the form of rolling. The robot is able to
easily move between the glades, sand
and snow without clinging and can be
used to build special operations teams in
war zones or even carry explosives to the
enemy's base. This research, is about the
kinematics of the optimal motion of a
spherical robot in a direct path with a
simple mechanism and check spherical
robot's control by the computer, and how
wireless communication is
communicated through the module. This
1 Department of electrical engineering (control), Faculty of engineering, the University of
Qom, Qom, Iran. Email: salari.azam90@gmail.com
2 Department of electrical engineering (power system), Faculty of engineering, the Islamic
Azad University of Kashan, Isfahan, Iran. Email: moeidi_z72@yahoo.com
robot is more capable than other robots
made with different movement
mechanisms, so that it can be easily
moved and smooth in smooth, fluid,
slippery, and angular surfaces, without
the need for an attachment to move, It
just moves easily with the gravity of the
earth. The propulsion mechanism of this
robot is a pendulum of two degrees of
freedom propelled by two engines. This
robot is a non-holonomic and non-linear
system, so it needs a nonlinear controller
like Sliding Mode Control (SMC).
Keywords: spherical robot, automated
control, non-holonomic system,
pendulum, SMC.
INTRODUCTION
Robots were first used in the
industry in 1954, that was a robot arm or
a Manipulator that only had 3 degrees of
Periódico do Núcleo de Estudos e Pesquisas sobre Gênero e Direito
Centro de Ciências Jurídicas - Universidade Federal da Paraíba
V. 8 - Nº 02 - Ano 2019 – Special Edition
ISSN | 2179-7137 | http://periodicos.ufpb.br/ojs2/index.php/ged/index
32
freedom. Today's industrial robots are
often the same robotic arm, but with 6
degrees of freedom and much more
advanced, they did not have to work in
the past. Robots are used in the industry
in many different ways and methods. In
recent years, the use of mobile robots has
been further developed to access larger
workplaces and mobility capabilities.
Hence, several mechanisms have been
designed and developed to generate
motion in robots. The use of wheel and
legs is one of the driving mechanisms
that has been studied for better
production and maneuverability in
various research centers. This issue is
even more important when using mobile
robots in space research and military
activities. Spherical robot is a moving
robot made up of a spherical shell and an
internal stimulus mechanism. In this
research, the spherical robot design and
commissioning and wireless
communication project will be
investigated. For this purpose, the kinetic
analysis of the robot is first performed
and, in the end, the path is planned in
different directions.
1. ROBOT AND ROBOTIC
ADVANTAGES
The use of robots in the work has
many advantages that we will refer to
later.
• Robots can do dangerous things like
monitoring a nuclear power plant or
exploring a volcano.
• Robots can do things more accurately
than humans and accelerate the progress
of medical science and other applied
sciences.
• Robots are particularly useful in
repetitive and tedious tasks, such as
building circuit boards, pouring glue on
spare parts, and more.
• Robotics and automation can in many
cases increase safety, production,
quality, and product quality.
• Robots can work in hazardous situations
and thus save thousands of lives.
• Robots do not care about their
surroundings and their human needs do
not make sense. And the robots are never
tired.
• The precision of the robots is much more
than humans , they are at a millisecond
or even micro-inch precision.
• Robots can do a few things at a moment,
but humans do just one job at a moment.
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