ADVANCES IN MECHANICAL STRUCTURE AND MOTION OF SMALL SIZED AUTONOMOUS FOOTBALLER ROBOTS

Felipe Alencar de Oliveira¹; Márcio Valério de Araujo¹

¹ UFRN

doi:10.20906/CPS/COB-2015-0337

Resumo

Robots competitions are being disseminated around the world. Among several categories, there is IEEE Very Small Size where the robots use moving wheels, are autonomous and have maximum dimension of 75mm. The robots have a unique colourful mark, allowing the view system to distinguish each robot partner or opponent, ball and field. They have embedded electronics and communicate via radio to a computer, responsible for vision system's graphs processing and send control signals based on the programed strategy. The robots are impelled by two wheels driven differentially, each one has its own motor which is activated with specific rotation speed independently, by electric motors. Although, it is usual to appear an inconvenient shaking around an imaginary rolling axis - as it happens on a seesaw - because of the two wheels configuration. This paper intends to solve the problem creating an unique and steady plan for support the robot. To this end, two designs are proposed, one with three supports and other with four supports. Changing the configuration of the wheels implies modifying the kinematic model, which is necessary to control the robot. To verify the efficiency of the designs will be made experiments on speed, force and level of shaking.

Palavras-chave: autonomous; moving ; robot; IEEE; very; small; size; seesaw; effect; shaking; soccer