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محمد العربي كريد

Assistant Professor

عضو هيئة تدريس

كلية الهندسة
قسم هندسة صناعية مكتب A2/ 129
المنشورات
ورقة مؤتمر
2014

Modular Cooperative Mobile Robots for Ventral Long Payload Transport and Obstacle Crossing

Cooperative Mobile Robots Long Payload Ventral Transportation Mode Obstacle Crossing.

In this paper, a new architecture for cooperative all-terrain mobile robots is introduced. It consists in a poly-robot system called C3Bots AT/VLP robot. It is formed by the association of two or more identical  mono-robots with simple kinematics that makes a poly-robot system while using the payload as a connecting frame. The mono-robots are able to co-manipulate long objects whatever their length and mass and to transport them in unstructured  environments. Each monorobot has a manipulator with up to four degrees of freedom that can catch the payload on the ground and lift it for a ventral transportation mode. The paper presents several kinematics and an obstacle crossing process in eighteen stages that guarantee permanent stability of the poly-robot thanks to motions of the mono-robots with respect to the payload.

موقع المؤتمر
Guimarães, Portugal
اسم المؤتمر
5th European Conference on Mechanism Science
المنظمة الممولة
International Federation for the Promotion of Mechanism and Machine Science
مزيد من المنشورات
publications

In this paper, a new architecture for cooperative all-terrain mobile robots is introduced. It consists in a poly-robot system called C3Bots AT/VLP robot. It is formed by the association of two or…

2014