Title: Investigation of mechanical energy storage system for agile mobile robot motion: Counter rotating flywheel controlled hovering robot
Abstract: In this paper, we present our research efforts which investigates efficiency of mechanical energy transfer from flywheel to the overall mobile hovering robot body not only with simulations but also with real world experiments. To generate varying amounts of inertia with respect to rotation requirements, a counter rotating flywheel system is developed and multiple angular motion profiles are applied within simulations and experiments. Mechanical design, simulation details, manufacturing steps and various test cases to generate different amount of torque are presented at the end of the paper. It is shown that, with accurate parameters, mechanical energy storage system is capable of generating required amount of forces to increase the maneuverability of a hovering mobile robot while it reduces its internal mechanical disturbances compared to a traditional control schema for a path following mission.
Publication Year: 2017
Publication Date: 2017-10-01
Language: en
Type: article
Indexed In: ['crossref']
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