Mechanical design and position control of a modular mechatronic device (MechaCell)

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dc.citation.epage730en_US
dc.citation.spage725en_US
dc.contributor.authorRistevski, Stefanen_US
dc.contributor.authorÇakmakçı, Melihen_US
dc.coverage.spatialBusan, South Koreaen_US
dc.date.accessioned2016-02-08T11:43:17Z
dc.date.available2016-02-08T11:43:17Z
dc.date.issued2015en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionDate of Conference: 7-11 July 2015en_US
dc.descriptionConference Name: 2015 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2015en_US
dc.description.abstractManufacturing techniques have advanced exponentially in recent years, providing means for production of smaller and more powerful electronics, which makes it compelling to design small and more powerful robots. Our work focuses on a mechanical design and position control of a modular mechatronic device called MechaCell. Mechacells are designed as modular semi-autonomous devices which can be used alone or part of a pack. In this paper our main focus is on the mechanical design of the Mechacell, especially the locomotion system which uses forces produced by a rotating unbalance that moves in a spherical domain for steering of the Mechacell. As part of the supervisory algorithm an overhead HD camera is used for position tracking of the Mechacell; the data is then sent to the Mechacells through a wireless connection. A proportional integral derivative controller is used as a base controller; then a friction compensation algorithm is added, based on the mathematical model of the Mechacell's locomotion system. Steering and locomotion controller of the Mechacell is validated using a complex motion profile in the developed testbed.en_US
dc.identifier.doi10.1109/AIM.2015.7222623en_US
dc.identifier.urihttp://hdl.handle.net/11693/27063
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/AIM.2015.7222623en_US
dc.source.titleProceedings of the 2015 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2015en_US
dc.subjectIntelligent mechatronicsen_US
dc.subjectMachine designen_US
dc.subjectPosition controlen_US
dc.subjectProportional control systemsen_US
dc.subjectTracking (position)en_US
dc.subjectTwo term control systemsen_US
dc.subjectAutonomous devicesen_US
dc.subjectFriction compensationen_US
dc.subjectLocomotion controllersen_US
dc.subjectManufacturing techniquesen_US
dc.subjectMechatronic devicesen_US
dc.subjectProportional integral derivative controllersen_US
dc.subjectSupervisory algorithmsen_US
dc.subjectWireless connectionen_US
dc.titleMechanical design and position control of a modular mechatronic device (MechaCell)en_US
dc.typeConference Paperen_US
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