Autonomous Robot for Mining Exploration: A Structomatical and Kinematical Model for Uneven Ground

Author:

Ene Marin1,Simionescu Ion2,Moise Victor2,Tabara Iulian2,Mailloux Maxime1

Affiliation:

1. Université du Québec en Abitibi Témiscamingue

2. Politehnica University of Bucharest

Abstract

This paper deals with the analysis of the mechanical system of a self-propelled vehicle on the tires able to move on an uneven ground whilst his platform stays horizontally. It is question to simulate the movement of a desmodromic robot which moves in an environment represented by a 3D surface. The robot has a mechano-hydraulic system which is able to modify the geometry of chassis in the aim of maintaining the platform always at horizontal while in movement, no matter the soil configuration (of course between some limits).The horizontalisation mechanism with the rolling train hydraulically driven presents some difficulties because of the non holonomic constraints of the wheels ([1, 2]). In order to make the application of the multipoles theory in the structomatical model must be introduce some simplifications in the contact joint. Thus, the non holonomic joints are presented like gamma active joints (with the condition of controlled rolling/skidding).This is an extension of the general principle of mechanism formation ([3]) according who any mechanical structure can be broken in genes upon an unique formula (the genetic code of the mechanism).Because of the complexity of the calculus the study of mechanism was divided in a few chapters: geometrics, structomatics, kinematics, kinetostatics and dynamics etc. The uttermost important and difficult part is the kinematical model because of the non-linearity of the equations. This article presents the first two items; the others will be the matter of future papers.

Publisher

Trans Tech Publications, Ltd.

Reference36 articles.

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2. Polotski V. – Observer-Based Path-Tracking Controller for Forward/Backward Motion of an Articulated Vehicle, CAMI'95: Canadian Conference on Computer Applications in the Mineral Industry, Montréal, October 22-25, p.654 – 663, (1995).

3. Duca C., Simionescu I. – Un principe général de formation des mécanismes, Études et Recherches de Mécanique Appliquée, ( SCMA), nr. 1, Tom 32, 1973. (en roumain).

4. Siegwart R. , Nourbakhsh E. R. – Introduction to Autonomous Mobile Robots, MIT Press, (2004).

5. Chavand F., Colle E. – Perception de l'environnement en robotique, Hermes, (1998).

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