Buy (600 RUB)
|Generate QR code
Open Access
Subscription or Fee Access
Conceptual Propositions for Creation of Perspective Robotic Systems based on Platform-Modular Approach
https://doi.org/10.17587/mau.24.619-626
Abstract
Intensive introduction of robotic systems is a modern priority for further automation of human activities. Recent theoretical and practical developments in robotics have made it possible to introduce robots in areas of practical activities previously dominated by humans. Modern trend in robotics is in creating state of the art robotic systems with increased autonomy and expanded functionality. This will allow to relieve human, leaving him supervision functions. An emerging task in robotics is also to create an environment, assisting to create and introduce new perspective robotic systems, also bearing modernization capability. This can be done through improving of modern approaches of creating robotic systems. We foresee necessity to change some of robots’ life-cycle stages, which would allow to rapidly introduce new effective robots into production. The article in its beginning studies some most emerging directions in robotics and new ideas for more effective robotic systems design. During this one should find a balance between introducing drastically new technologies in new robot and perfectioning already existing technologies. Authors propose to use so-called modular-platform based approach for creating new robots. Within it they imply typical structure of a robot, suggesting to use basic platform as a basement for building new robots with varying usefull load. In such case same platform can be used for building inspection robots, unmanned transport systems, unmanned retransmitter etc. The paper presents some already built examples of the approach. Final part of the paper discusses advantages given by application of this approach.
Supporting agencies: Part of this work was done according to the Russian Ministry of Science and Higher Education within the framework of the Russian State Assignment contract No 123021700055-6
About the Authors
S. S. Graskin
MSTU Bauman
Russian Federation
Russian Federation
Moscow
I. L. Ermolov
IPMech RAS
Russian Federation
Russian Federation
Dr. of Tech. Sc., Professor
Moscow
S. P. Khripunov
IPU
Russian Federation
Russian Federation
Moscow
References
1. Ermolov I. L., Khripunov S. P. et al. Typical Structure of a Robotic System, Information, measuring and control systems, 2017, no. 6 (in Russian) (in Russian).
2. Denisov I. I., Kononov A. F. Mechanical warrior, available at: http://econ-journal.ru/mehanicheskij-boec-mnogie-roboty-uzhe-s/ (date of acc ess 27.12.2017) (in Russian).
3. Tsarichenko S. G. SUV GAVIA — underwater researcher, Gydrotechnica, 2011, no. 2 (22), pp. 112—114 (in Russian).
4. Ermolov I. L., Khripunov S. P. Creating Generalized Typical Structure of a Robotic System, Robototechnica i technicheskaya cybernetica, 2017, no. 1 (14) (in Russian).
5. Ermolov I. L., Khripunov S. P., Kononov A. F. Unification in Robotics, Proc. Of "Extreme Robotics — 2017" International Conference, St. Petersburg, 2017 (in Russian).
6. Prokopiev V. Y. Platform-based solutions and modular approach in design of electronic devices, Scientific Courier of Information Technologies, Mechanics and Optics, 2019, vol. 19, no. 5, pp. 901—911 (in Russian).
7. Bazrov B. M. Modular approach in machine-building, Мoscow, Mashinostroenie, 2001, 368 p. (in Russian). 8. Averianov O. I. Modular approach in CNC machine-tools, Мoscow, Mashinostroenie, 1987, 232 p. (in Russian).
8. Andreev V. P., Pletenev P. F. Intermodular communication technology in heterogeneous modular mobile robot, Proc. of "Extreme Robotics 2016" International Conf., St. Petersburg, 2016 (in Russian).
9. Andreev V. P., Kim V. L. Designing basic units of heterogeneous modular mobile robot, Proc. of "Extreme Robotics 2016" International Conf., St. Petersburg, 2016 (in Russian).
10. Andreev V. P., Poduraev J. V. Function-based modular approach for building heterogeneous modular mobile robot, Proc. of "Extreme Robotics 2016" International Conf., St. Petersburg, 2016 (in Russian).
11. Manko S. V., Lokhin V. M., Kraynov N. V., Malko A. N. Algorithms for Intelligent Control of Reconfigurable Robots in a Wheel Configuration and Multi-Agent Systems Based on them, Mekhatronika, Avtomatizatsiya, Upravlenie, 2022, vol. 23, no. 8, pp. 420—429 (in Russian).
12. Manko S. V., Shestakov E. I. Futomatic synthesis of gait scenarios for reconfigurable mechatronic modular robots in the modification of the walking platform, Russian Technological Journal, 2018, vol. 6, no. 4 (in Russian).
13. Jing G., Tosun T., Yim M., Kress-Gazit H. An end-toend system for accomplishing tasks with modular robots, Proceedings of Conference Robotics: Science and Systems, 2016.
14. Kojcev R., Etxezarreta N., Hernandez A., Mayoral V. Evaluation of deep reinforcement learning methods for modular robots. arXiv preprint arXiv:1802.02395, 2018.
Review
For citations:
Graskin S.S., Ermolov I.L., Khripunov S.P. Conceptual Propositions for Creation of Perspective Robotic Systems based on Platform-Modular Approach. Mekhatronika, Avtomatizatsiya, Upravlenie. 2023;24(12):619-626. (In Russ.) https://doi.org/10.17587/mau.24.619-626
Views:
292
.png)
Email this article 