tailieunhanh - Mobile Robots Navigation 2008 Part 16

Tham khảo tài liệu 'mobile robots navigation 2008 part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 588 Mobile Robots Navigation the other. Under situations of limited space turning radii close to zero can be achieved by making the two motors turn in opposite directions. A chassis was designed to joint the different elements that form part of the vehicle and that should support the different actions that are generated during the functioning. It is constituted by different pieces in 8-mm steel sheeting Fig. 3a . On the lower part it fits into the rubber tread which makes up the roller system. The upper part is equipped with a system to transport and connecting accessory equipment characterized by rectangular guides and self-locking pins. Furthermore in order to study the robustness and stability of the chassis a finite element analysis FEA of the chassis was made Fig. 3b . a Front view of the chassis b FEA analysis of the chassis Fig. 3. Chassis of the vehicle The rest of the main elements making up the vehicle are indicated in Fig. 4. This figure also includes the spraying system designed for the vehicle composed of A 300-litre fibreglass-reinforced polyester resin tank 92x61x60 mm A l min spray tank Comet MP30 COMET . Reggio Emilia Italy 15 bar maximum pressure. A vertical boom sprayer with ten nozzles Teejet DG 9502 EVS Spraying Systems Co. Wheaton Ill. . A frame made of hollow rectangular steel tubes of 30x30x1 mm The arrangement of the different elements gives the vehicle a wide zone to transport equipment the connection and disconnection of the equipment proves easy as the guides of the transport system are situated near the soil level approx. 50cm . A mechatronic description of an autonomous mobile robot for agricultural tasks in greenhouses 589 13 Fig. 4. Exploded drawing of the prototype 1. Chassis 2. Rubber tracks 3. Petrol engine 4. Double variable-displacement axial piston pump 5. Hydraulic gear motors 6. Hydraulic heat exchangers 7. Oil tank 8. Security frame 9. Battery 10. Back protective frame 11. Phytosanitary tank 12. Spraying Puma 13.