| Course Unit Code | 354-0626/01 |
|---|
| Number of ECTS Credits Allocated | 4 ECTS credits |
|---|
| Type of Course Unit * | Compulsory |
|---|
| Level of Course Unit * | Second Cycle |
|---|
| Year of Study * | First Year |
|---|
| Semester when the Course Unit is delivered | Winter Semester |
|---|
| Mode of Delivery | Face-to-face |
|---|
| Language of Instruction | Czech |
|---|
| Prerequisites and Co-Requisites | There are no prerequisites or co-requisites for this course unit |
|---|
| Name of Lecturer(s) | Personal ID | Name |
|---|
| BOB0001 | prof. Ing. Zdenko Bobovský, PhD. |
| Summary |
|---|
| In the course, students will get acquainted with the wheel and crawler chassis of service robotic systems. They will learn how to design and dimension chassis for the required service scenario. They will also be introduced to various ways of steering wheel and crawler chassis. |
| Learning Outcomes of the Course Unit |
|---|
| In this course, students will be acquainted with chassis of chassis and robotic systems. They will learn how to design and customize such a chassis for the defined service scenario. |
| Course Contents |
|---|
Lecture:
1. Wheel chassis, Functional subgroups,
2. Mechanics of Wheel chassis movement 1,
3. Mechanics of Wheel chassis movement 2,
4. Mechanics of Wheel chassis movement 3,
5. Control of wheeled chassis 1,
6. Control of wheeled chassis 2,
7. Statically stable and unstable wheel systems - examples of solutions,
8. Tracked chassis, Functional subgroups,
9. Mechanics of movement of the tracked chassis 1,
10. Mechanics of movement of the tracked chassis 2,
11. Mechanics of movement of the tracked chassis 3,
12. Control of tracked chassis,
13. Tracked chassis - examples of solutions
Exercises:
1. Project assignment
2. Application of service scenario methodology
3. Determination of functional and organ structure
4. Design of wheel chassis kinematics and selection of HW components
5. Elaboration of rough building structure I.
6. Elaboration of rough building structure II.
7. Preliminary calculation
8. Model transfer to the simulation environment
9. Simulation in the testing environment
10. Simulation in the testing environment
11. Design of mechanical structure
12. Control calculations
13. Submission and defenseof the project
|
| Recommended or Required Reading |
|---|
| Required Reading: |
|---|
[1] TAKAHASHI, Yoshihiko.Service robot applications. Croatia : In-Teh, 2008., ISBN 978-953-7619-00-8
[2] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055
[3] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226
[4] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055 |
[1] SMRČEK, Juraj, Ladislav KÁRNÍK a Zdenko BOBOVSKÝ.Robotika: servisné roboty na pásovom podvozku[CD-ROM]. Časť I, Navhovanie, konštrukcia. Ostrava: VŠB - Technická univerzita Ostrava, 2011. ISBN 978-80-248-2500-7.
[2] SMRČEK, Juraj, Ladislav KÁRNÍK a Zdenko BOBOVSKÝ.Robotika: servisné roboty na pásovom podvozku[CD-ROM]. Časť II, Konštrukcia, rešenia. Ostrava: VŠB - Technická univerzita Ostrava, 2011. ISBN 978-80-248-2499-4.
[3] SMRČEK, Juraj a kol.Robotika:metodika nasadzovania servisných robotov, 1. vyd. Košice : TU, 2013. - Biograf. údaje. - 203 s. : (Edícia vedeckej a odbornej literatúry). - ISBN 978-80-553-1523-2 (brož.)
[4] SMRČEK, Juraj a Ladislav Kárník.Robotika:servisné roboty : navrhovanie, konštrukcia, riešenia. - 1. vyd. Košice : Michal Vaško, 2008. - 531 s. : (Edícia vedeckej a odbornej literatúry). - ISBN 978-80-7165-713-2 (viaz.) :
[5] ČERKALA, Jakub a Anna JADLOVSKÁ. Matematické modelovanie a riadenie kolesových mobilných robotov. 1. Košice: elfa, s.r.o. Košice, 2019. ISBN 978-80-8086-273-2.
|
| Recommended Reading: |
|---|
[1] AHN, Ho Seok.Advances in service robotics. Croatia : In-Teh, 2008. ISBN 978-953-7619-02-2
[2] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007, ISBN 978-981-270-815-1
[3] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8
|
[1] AHN, Ho Seok. Advances in service robotics. Croatia : In-Teh, 2008. ISBN 978-953-7619-02-2
[2] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007, ISBN 978-981-270-815-1
[3] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8
|
| Planned learning activities and teaching methods |
|---|
| Lectures, Tutorials, Project work |
| Assesment methods and criteria |
|---|
| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
|---|
| Credit and Examination | Credit and Examination | 100 (100) | 51 |
| Credit | Credit | 35 | 15 |
| Examination | Examination | 65 | 36 |