Tham khảo tài liệu 'mobile robots current trends part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Construction of a Vertical Displacement Service Robot with Vacuum Cups 229 Fig. 17. Pseudo circular movement. a. the positions of the platforms PLE and PLI during translation b. The polygon of the trajectory. The radius of the circle inscribed in the travelled polygon is given by 1 --- S tg15 1 5. Modelling and simulation of the robot displacement The displacement of the robot was modelled and simulated using Cosmos Motion software Alexandrescu 2010a Apostolescu 2010 . In order to simulate the robot translation for the relative movement between platforms the interior platform was considered to be fixed. A parabolic variation was imposed for the acceleration. The numeric values used for simulation are displacement AS 100 mm maximum acceleration amax 500 mm s2 and computed maximum speed vmax 60 mm s. Figures 18 19 and 20 present the simulation results. The simulations allowed the computation of the value of the maximum instantaneous power Ptr W. The needed power at the exit of the driving motor resulted equal to . The orienting rotation of the robot was simulated for rotation cycle of 30 . Figures 21 22 and 23 present the simulation results. In the transitory areas it can be noticed that the variation of the angular acceleration presents deviations relatively to its theoretical shape. This phenomenon can be explained by the variation of the static charges during platform rotation. The computed maximum value of the couple was equal to Nm. The computed maximum power at the level of the platform was equal to Prot W. 230 Mobile Robots - Current Trends Fig. 18. Variation of translation speed. Time sec Fig. 19. Variation of translation acceleration. Fig. 20. Displacement during translation. Construction of a Vertical Displacement Service Robot with Vacuum Cups 231 Fig. 21. Variation of angular speed during platform rotation. Fig. 22. Variation of angular acceleration during platform .
