Mechanics of Solids (about journal) Mechanics of Solids
A Journal of Russian Academy of Sciences
 Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936

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IssuesArchive of Issues2019-4pp.614-621

Archive of Issues

Total articles in the database: 9179
In Russian (. . ): 6485
In English (Mech. Solids): 2694

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A. Shariati, A. H. Shamekhi, A. Ghaffari, S. Gholampour, and K. Motaghed A, "Conceptual Design Algorithm of a Two-Wheeled Inverted Pendulum Mobile Robot for Educational Purposes," Mech. Solids. 54 (4), 614-621 (2019)
Year 2019 Volume 54 Number 4 Pages 614-621
DOI 10.3103/S0025654419040162
Title Conceptual Design Algorithm of a Two-Wheeled Inverted Pendulum Mobile Robot for Educational Purposes
Author(s) A. Shariati (Department of Mechanical Engineering, University College London, London, UK, a.shariati@ucl.ac.uk)
A. H. Shamekhi (Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran)
A. Ghaffari (Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran)
S. Gholampour (Department of Biomedical Engineering, North Tehran Branch, Islamic Azad University, Tehran, Iran)
K. Motaghed A (Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran, kamyar_motaghed@alumn.sharif.edu)
Abstract It is a great challenge for the universities to present undergraduate students the fundamental knowledge needed to develop intelligent unstable robots. Due to the inherent instability and nonholonomic constraints, the problem of two-wheeled inverted pendulum (TWIP) mobile robot is appealing and challenging case in control and dynamic systems. In this paper, an approach is presented to introduce undergraduate students of the control engineering, the principle of developing a TWIP mobile robot. For this purpose, a conceptual design algorithm for TWIP robots is contributed and based on the algorithm and the design criteria, a prototype of the robot is constructed. In the construction process, the selection of mechanical and electronic components is based on the algorithm and the students can experience different control techniques to stabilize and control the system.
Keywords Two-wheeled inverted pendulum (TWIP), mobile robot, conceptual design algorithm, construction
Received 01 September 2019
Link to Fulltext https://link.springer.com/article/10.3103/S0025654419040162
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