Tham khảo tài liệu 'climbing and walking robots part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Fuzzy Control Based Stair-Climbing Service Robot 113 Fig. 1. A lateral view of the robot Fig. 2. A vertical view of the robot a b d Fig. 3. Motion of climbing up f 114 Climbing and Walking Robots Fig. 4. Summary of climbing-up motion the motor gears are considered for torque magnification. The total output torque of the motor Te has to satisfy the following inequality 2Te X SJ X J X S2 XTJ2 mg sinớ mg cosớ-ự Xlm 1 where lm is the operating radius SJ S2 and J 2 are the gear ratio and the efficiency of the first second gear respectively. Consequently the motor types of low rated input voltage and high rated speed are primary selection. Similarly Fig. 5 shows the way of going down stairs and Fig. 6 displays summary of goingdown motion step by step. During going down the output torque from motors can be reduced since it is in the same direction of force of gravity of the robot system. a b Fig. 5. Motion of going down e f A Fuzzy Control Based Stair-Climbing Service Robot 115 Fig. 7 displays the picture of the 45-Kg stair-climbing robot with one 5-kg arm for service. Its operating radius is lm . Worm gears and the charger are then shown in Fig. 8. Since the batteries are prerequisite for the robot an inbuilt charger is considered for convenience in charging. Fig. 6. Summary of going-down motion Fig. 7. Picture of the stair-climbing robot with its arm Fig. 8. Worm gear and .
