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Sensors 2017, 17(5), 1122; doi:10.3390/s17051122

Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System

1
Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain
2
Department of Chemistry, University of Lleida, 25001 Lleida, Spain
*
Author to whom correspondence should be addressed.
Academic Editor: Seung-Bok Choi
Received: 24 March 2017 / Revised: 10 May 2017 / Accepted: 12 May 2017 / Published: 14 May 2017
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2017)
View Full-Text   |   Download PDF [30448 KB, uploaded 14 May 2017]   |  

Abstract

This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the tower-typed mobile robots is that the vibrations that originate in the lower part of the structure are transmitted and amplified to the higher areas of the tower, causing an unpleasant visual effect and mechanical stress. This paper assesses the use of a suspension system aimed at minimizing the generation and propagation of vibrations in the upper part of the tower-typed holonomic robots. The two robots analyzed were equipped with onboard accelerometers to register the acceleration over the X, Y, and Z axes in different locations and at different velocities. In all the experiments, the amplitude of the vibrations showed a typical Gaussian pattern which has been modeled with the value of the standard deviation. The results have shown that the measured vibrations in the head of the mobile robots, including a passive suspension system, were reduced by a factor of 16. View Full-Text
Keywords: holonomic robot; omnidirectional wheels; spring-based suspension system; vibration; tower-typed mobile robots; Assistant Personal Robot holonomic robot; omnidirectional wheels; spring-based suspension system; vibration; tower-typed mobile robots; Assistant Personal Robot
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Moreno, J.; Clotet, E.; Tresanchez, M.; Martínez, D.; Casanovas, J.; Palacín, J. Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System. Sensors 2017, 17, 1122.

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