ايمان خواجه تبارسماكوش

Wheeled robots have gained significant traction in various applications. They have evolved into more advanced robots with sophisticated locomotion mechanisms from their early simplistic motion systems. Over time, the number of wheels on these robots has increased. Initially, the motion mechanisms consisted of only four or three wheels, but the number of wheels grew, followed by the addition of legs. In modern systems, knee joints have also been incorporated into the robots. Including joints increases the robot's degrees of freedom, enhancing maneuverability and accessibility. Early wheeled robots had passive motion systems, meaning that their motion systems did not adapt to the environment or obstacles. However, modern wheeled robots now possess active motion systems that can dynamically respond to the surrounding conditions to find the optimal path for overcoming obstacles. These capabilities make wheeled robots ideal for collaboration with humans or even as human substitutes, enabling faster, more precise, and safer task execution. The advancements in wheeled robots have led to increased costs and time-consuming construction. Researchers and robot manufacturers no longer have the luxury of trial and error to achieve desired and optimized designs. Therefore, there is a growing need for simulation software to model robot behavior. One such software is "ADMS." ADMS enables the simulation of robots in various environments and facilitates the extraction of desired outputs. Moreover, ADMS can interface with computational and control software such as MATLAB. In this thesis, a simplified model of a wheeled robot was designed using SolidWorks, and the model was then transferred to ADMS. The robot was modeled in ADMS in both dynamic and kinematic forms. The accuracy of the created ADMS model was eva‎luated through equations and practical tests, confirming its correctness. Subsequently, the ADMS model was prepared to implement dynamic and kinematic controllers. The robot controllers were implemented in both kinematic and dynamic modes. The kinematic controller utilized a PID-based fuzzy controller, while the dynamic controller employed an SMC (Sliding Mode Control) with a PID sliding surface. The performance of these controllers was eva‎luated, demonstrating their capability to control the robot effectively. In general, robots operate in environments that contain inevitable obstacles. Therefore, a robot intended for use among humans must be able to overcome obstacles and traverse uneven terrain. Wheeled robots excel in traversing rough terrains. Consequently, the proposed controllers' performance was examined when faced with unknown rough terrains, revealing highly desirable results. Lastly, the kinematic controller of the robot was tested in a real environment, and the results indicated its satisfactory performance. Overall, wheeled robots offer great potential in various applications, providing improved speed, accuracy, and safety. With simulation software like ADMS, researchers and manufacturers can efficiently design, model, and control wheeled robots. These advancements contribute to developing more capable robotic systems that navigate complex environments and collaborate effectively with humans.

ربات چرخدار راهرونده , مدل‌سازي ادمز , مدل‌سازي سينماتيكي و ديناميكي , كنترل در مسير‌هاي ناهموار

Wheeled Mobile Robot , Adams Modeling , Kinematic and dynamic Modeling , Control in Uneven Terrain

Iman Khajetabar Samakosh

Moharram Habibnejad Korayem