In this paper a testbed for the characterization of the dynamic behavior of a cylindrical robot in motion on deformable soil is described. The mobile robot consists in a cylindrical rigid shell which can rolls on rough terrain thanks to an internal device. The test-bench was designed and optimized to experimentally test the interaction between the external shell and the soil with different mechanical characteristics. A LabView based software to lead and acquire the necessary data for the experiments was developed. Pc-based boards with general purposes A/D I/O ports were used for the rotative and linear encoders and the internal device d.c. motor. The goal is to build a big sensor to estimate the forces system arising from the interaction between a rigid cylindrical shell and rough terrain. Experimental results show the testbed can give a good measure of the travelling resistance that the mini-vehicle meets on rough terrain.
A testbed for the experimental study of a cylindrical shape robot on rough-terrain / Foglia, M.; Gentile, A.; Reina, G.. - STAMPA. - 1:(2002), pp. 1189883.163-1189883.168. (Intervento presentato al convegno IEEE International Conference on Industrial Technology, IEEE ICIT 2002 tenutosi a Shangri-La Hotel, tha nel 2002) [10.1109/ICIT.2002.1189883].
A testbed for the experimental study of a cylindrical shape robot on rough-terrain
Foglia M.
Membro del Collaboration Group
;Reina G.Membro del Collaboration Group
2002-01-01
Abstract
In this paper a testbed for the characterization of the dynamic behavior of a cylindrical robot in motion on deformable soil is described. The mobile robot consists in a cylindrical rigid shell which can rolls on rough terrain thanks to an internal device. The test-bench was designed and optimized to experimentally test the interaction between the external shell and the soil with different mechanical characteristics. A LabView based software to lead and acquire the necessary data for the experiments was developed. Pc-based boards with general purposes A/D I/O ports were used for the rotative and linear encoders and the internal device d.c. motor. The goal is to build a big sensor to estimate the forces system arising from the interaction between a rigid cylindrical shell and rough terrain. Experimental results show the testbed can give a good measure of the travelling resistance that the mini-vehicle meets on rough terrain.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
