LABORATORY COMPLEX FOR RESEARCH OF HUMAN RIDING MOBILE ROBOTS

摘要

The utility model relates to laboratory complexes for the study of omni-wheel mobile robots, and can be used to study modern control algorithms for such devices. The technical task of the utility model, which coincides with the useful result from its application, is to expand the functionality of the mobile robot and to ensure the effectiveness of its use in laboratory work and practical classes in robotics. The problem is solved in that the complex comprises a platform made of two semicircular sections connected to each other, a control unit is installed at the end of the platform, and movers are fixed at the edges of the sections in the holes by means of bolt connections, while the platform is closed by a cover on which the block is placed determine the current location of the platform. Movers are motor wheels, consisting of a paw combined with a hollow body in the form of a hemisphere with radial grooves and a central hole, while inside the body on an L-shaped bracket containing a boss with an external thread and a spike lock, a roller wheel with an engine is installed direct current and encoder; the boss of the L-shaped bracket is aligned with the central hole of the body and fixed with a nut, and the spike-retainer is aligned with one of the radial grooves; ultrasonic and infrared distance sensors, their outputs, as well as the output of the unit for determining the current location of the platform are fixed on the outer surface of the housing, connected to the measuring inputs of the control unit, and its control outputs are connected to the encoders of the propulsion devices.