design and manufacture of reconfigurable ......ir. udink aulia m.eng ir. syahriza m.engsc dr. ir....
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DESIGN AND MANUFACTURE OF RECONFIGURABLE ROBOTS FOR RESCUE
EARTHQUAKE VICTIMS
IR. UDINK AULIA M.ENG
IR. SYAHRIZA M.ENGSC
DR. IR. MUHAMMAD DIRHAMSYAH MT
MECHANICAL ENGINEERING DEPARTMENTENGINEERING FACULTY SYIAH KUALA UNIVERSITY
2018
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COLLAPSE BUILDING
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TECHNOLOGY TO HELP RESCUE WORKER
• Snake robot
• Modular Self reconfigurable Robot
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CONTROL
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DOCKING PROCEDURE
During this phase, a series of adjusting movements need to be performed. In each adjustingmovement, the active robot rotates at first to adjust its orientation and then moves forward to adjust itsposition
In this step, the active robot wanders under a certain strategy to explore and search for the correct passive docking surface whose LED lights formed a specific pattern. After finding the target passive docking surface, the robot will enter the next phase
In this phase, the robot opens its hooks and moves forward until it contacts the passive docking
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SOFTWARE ARCHITECTURE
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PHASE RELATIONSHIP IN ADJACENT JOINT OF A SNAKE ROBOT
a a phase lagbetween neighbor segments during forward serpentine locomotion
b a phase lead between neighbor segmentsduring backward serpentine locomotion.
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SNAKE LOCOMOTION
• Snakes use a wide variety of gaits such as serpentine
locomotion, inchworm-like locomotion and sidewinding
locomotion that make them survive with high adaptability in
complex environment.
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CPG (CENTRAL PATTERN GENERATOR) CONTROLLER
A simulated model of a snake robot
Topological structures with six coupled Hopf oscillators: a two-way double chain
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MAIN PARAMETER SNAKE ROBOT
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SIMULATION OF SIDEWINDING GAIT
The screenshots of the simulated snake robot during the sidewinding gait on ADAMS. Main parameters are ω =1Hz, ρ = p/6rad, ρR= p/36 rad, ϕ = p/2rad, d = 3p/10 radL
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Thank you