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Service Robots: Design and Construction

机译：服务机器人：设计和建造

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Nowadays, the service robots have been extensively employed in homes, hospitals and industries. This article addresses the design process and experimental results of a mobile robot with differential drive mechanism which is manufactured as cleaner service robot. The goalie robot is actuated redundancy with two driving wheels and one castor wheel. The design process starts by defining the required robot parameters for the house cleaning purpose. To start the design process, first the kinematics and dynamics equations are derived in a symbolic form assuming that no slip occurs on the wheels in the self-revolute rotation. It is followed by the simulation results performed using Visual Nastran software to calculate the actuators and body characteristics. The design characteristics and control system implemented are then presented. Finally, some experiments are performed on the robot and positioning errors of robot are reduced using commonly used approach called the University of Michigan Benchmark (UMBmark) method. Furthermore, two factors, including radial error and error improvement indices, are statistically defined to measure the workability of benchmark test.
机译：如今，服务机器人已广泛应用于家庭，医院和行业。本文介绍了带有差速驱动机构的移动机器人的设计过程和实验结果，该机器人被制造为清洁服务机器人。守门员机器人由两个驱动轮和一个脚轮驱动。设计过程首先定义用于房屋清洁的所需机器人参数。要开始设计过程，首先假设在自转旋转中车轮上不发生打滑，然后以符号形式导出运动学和动力学方程。随后是使用Visual Nastran软件执行的仿真结果，以计算执行器和车身特性。然后介绍了设计特征和实现的控制系统。最后，使用称为密歇根大学基准（UMBmark）方法的常用方法，对机器人进行了一些实验，并减少了机器人的定位误差。此外，统计上定义了两个因素，包括径向误差和误差改善指数，以衡量基准测试的可操作性。

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