| Popis: |
In this paper, an automatic wheel diameter control process for mobile robotic complexes is proposed. The proposed design features an adaptive wheel with a sliding rim, strain gauges and a microprocessor. Specifically this is achieved by equipping the adaptive wheel with a microprocessor, which inputs data from the strain gauges located on the inside of the elastic tyre, and the outputs of the microprocessor are connected to the actuator with the ability to control is movement. The obtained reading from the strain gauge is translated using approximating functions. The software and algorithm for determining the need to change the driving characteristics (in particular, the diameter) of the adaptive wheels has been developed. The program checks whether the wheel can negotiate the obstacle, based on the defined height of the wheel. The cut-off is set at half the height of the wheel, and if this is exceeded, the program will report a need to increase the wheel diameter and a new diameter is displayed. This program has application in robotics, namely for use of adaptive wheels on devices such as recon robots, lunar rovers, rescue robots, and robots for exploration of geological reserves. This creates the potential for combined modes of motion and self-diagnosis of the wheels. |
