 | | 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 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| << Previous article | Volume 54, Issue 4 / 2019 | Next article >> |
| 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 |
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