ISSN 2658–5782
DOI 10.21662
Electronic Scientific Journal


© Институт механики
им. Р.Р. Мавлютова
УФИЦ РАН

Яндекс.Метрика

Kruglov N.O., Bogdanov D.R., Nasibullayev I.Sh. Synthesis of an inspection modular robot’s design. Multiphase Systems. 20 (2025) 1. 33–44 (in Russian).
2025. Vol. 20. Issue 1, Pp. 33–44
URL: http://mfs.uimech.org/mfs2025.1.006,en
DOI: 10.21662/mfs2025.1.006
Synthesis of an inspection modular robot’s design
N.O. Kruglov1,2, D.R. Bogdanov1 🖂, I.Sh. Nasibullayev3
1Mavlyutov Institute of Mechanics UFRC RAS, Ufa
2Ufa State Oil Technical University, Ufa
3Ufa University of Science and Technology, Ufa

Abstract

The paper presents a methodology for designing computer models of mobile robots, and also shows the results of computer simulations using mathematical algorithms to determine the trajectory of the robot. The methodology includes creating a modular robot design using the Solidworks design system, creating its computer model in the ROS programming software, and simulating the behavior of the model in the Gazebo simulation environment. An algorithm for moving a modular wheeled robot consisting of modules with a movable wheel pair has been developed. The advantage of this algorithm compared to the previous one (with modules with a fixed wheel pair) is that the slave modules follow strictly along the trajectory of the leading module. This increases the cross-country ability when the robot moves on a plane bypassing obstacles and increases the accuracy of work (scanning, repair, cleaning, etc.) in the configuration of a pipe inspection robot. The simulation results showed that the behavior of the robot model corresponds to computational experiments conducted on the basis of previously developed mathematical models. The technique was applied to the development of a computer model of a wheeled modular mobile robot. During the simulations, it was found that the presence of movable wheel pairs in the robot modules allows eliminating deviations in the trajectories of slave modules from the trajectory of the leading module. Taking this into account, a model of a three-link wheeled robot was built based on modules with a movable wheel pair. To check the operability of the assembledmodel and the correctness of the drive installation, a control circuit was assembled based on the STM32F407 Discovery debug board and stepper motor drivers. The resulting technique can be used to conduct computer experiments to study the kinematics and dynamics of the developed designs of modular robots in workspaces with a complex topology, for example, in pipelines.

Keywords

mobile modular wheeled robot,
mathematical and computer model,
robot prototype,
ROS,
Gazebo

Article outline

To meet the requirements for inspection robotic systems, it is necessary to perform a set of works, which includes development of the robot module design, synthesis of universal mechanical and information interfaces between modules, as well as development of algorithms for forming the mutual arrangement of modules (robot configurations). Based on the analysis of existing types of robots, a variant of a new design of an inspection mobile wheeled robot was proposed, consisting of modules connected by a ball joint. Each module consists of a trolley and a wheel pair. Two variants of the wheel pair design are considered in relation to the possibility of rotation around the vertical axis - fixed and controlled.

Previously, the authors developed an algorithm for calculating the configuration of a mobile wheeled robot when moving along an arbitrary trajectory with modules that have a fixed wheel pair. It was shown that in this case the trajectories of the slave modules and the leading one differ. In the presented work, a numerical algorithm for calculating the configuration of a robot with modules with controlled wheel pair has been developed. The simulation results showed that by controlling the rotation of the wheel pair, it is possible to achieve the movement of the slave modules strictly along the trajectory of the leading module. To visualize the kinematics of the robot, a script for the Blender Python API was developed.

Based on the results of mathematical simulation of the design of a modular wheeled robot, and taking into account the need to ensure spatial reconfiguration of the robot during its movement, the following robot layout was selected: the connection between the modules is performed using a three-axis joint, and to eliminate deviations in the trajectories of the slave and leading modules on curved sections of the trajectory, a rotation of the wheel pair is used. The joint is implemented as a combination of a spherical plain bearing and a rotary hinge, while the change in the position of the modules along two coordinates is carried out by four linear drives, and a stepper motor performs rotation with a reducer located inside one of the mating modules. The movement of the robot is carried out using motor wheels with integrated stepper motors, changing the ratio of rotation speeds or directions of which it is possible to obtain any trajectories. The rotation of the wheel pair is carried out using a system of rods controlled by a servo drive. A prototype robot was assembled from the developed components of the robot design, manufactured on a Form3 3D printer from FormLabs, consisting of 3 modules with motors installed in them.

The simulation of the developed model was carried out with two states of the moving platform: with fixed wheels and controlled. The goal of the simulation was the successful passage of the robot along a circular trajectory without deviation of modules from the trajectory. During the simulations, it was found that the moving wheels platform allows reducing the oscillations of the trajectory of the modules, starting with the second, relative to the trajectory of the first module. Similar results were obtained earlier during the simulation of the mathematical model.

It is planned to continue work in the following areas: correction of mathematical models taking into account the selected design of the robot module, development of a complete dynamic model of the robot, synthesis of the architecture of the control system taking into account its physical implementation, development of the robot information system, experimental verification of modernized mathematical models of the robot and creation of a full-scale test bench with models of pipelines of arbitrary topology.

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