skip to main content
10.1145/3655532.3660274acmotherconferencesArticle/Chapter ViewAbstractPublication PagesicrsaConference Proceedingsconference-collections
research-article

V-Methodology for to Design a PCB of Control for Linear Electric Actuator for a Quadruped Zoomorphic Robo

Published: 28 June 2024 Publication History

Abstract

Zoomorphic robots are intricate engineering marvels, each requiring a unique electromechanical controller tailored to its specific motion actuators. In this research, we developed a printed circuit board (PCB) to control linear electric actuators, employing MOSFET components for the motion of a bio-inspired quadruped robot. The V-Methodology guided our investigation steps, leading to the design and creation of a prototype. The Results section details the development of the PCB for controlling eight electric actuators on the robot, along with the current analysis obtained from both the simulation model using Matlab Software and the prototype implementation. The simulation allowed for a comparison of results between the prototype and the Simulink model, confirming that the design process met expectations.

References

[1]
D. Vashist, P. Kumar, y A. Dalal, "A Review on Robotics Technology", Int. J. Eng. Res. Technol. IJERT, vol. 5, n.o 03, pp. 1-4, 2017.
[2]
B. Siciliano y O. Khatib, Springer Handbook of Robotics, 2nd Edition. Springer, 2016.
[3]
Z. Zhang, "Mechanism design for locust-inspired robot with one-DOF leg based on jumping stability", Mech. Mach. Theory, vol. 133, pp. 584-605, mar. 2019.
[4]
A. Phunopas y E. Hayashi, "A Four-legged Robot's Soft Feet Structural Design and Walking Gait Generated from Inverse Kinematics", J. Robot. Netw. Artif. Life, vol. 5, n.o 3, pp. 161-164, 2018.
[5]
Y. Zhong, R. Wang, H. Feng, y Y. Chen, "Analysis and research of quadruped robot's legs: A comprehensive review", Int. J. Adv. Robot. Syst., vol. 16, n.o 3, p. 1729881419844148, may 2019.
[6]
P. Biswal y P. K. Mohanty, "Development of quadruped walking robots: A review", Ain Shams Eng. J., vol. 12, n.o 2, pp. 2017-2031, jun. 2021.
[7]
B. D. Vachan, B. S. Deepthi, B. C. Geetha, y L. Srinivasan, "Landmine Detection using Wireless Robot", Int. Res. J. Eng. Technol. IRJET, vol. 07, n.o 04, pp. 641-648, 2020.
[8]
P. K. Guchhait, S. Roy, y A. Banerjee, "PIC Controller Based SVPWM Technique for Induction Motor Variable Speed Drive", en Electronic Systems and Intelligent Computing, Singapore, 2020, pp. 541-553.
[9]
B. Silva, R. M. Fisher, A. Kumar, y G. P. Hancke, "Experimental Link Quality Characterization of Wireless Sensor Networks for Underground Monitoring", IEEE Trans. Ind. Inform., vol. 11, n.o 5, pp. 1099-1110, 2015.
[10]
M. B. Alatise y G. P. Hancke, "A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods", IEEE Access, vol. 8, pp. 39830-39846, 2020.
[11]
K. Ba, "A novel one-dimensional force sensor calibration method to improve the contact force solution accuracy for legged robot", Mech. Mach. Theory, vol. 169, p. 104685, mar. 2022.
[12]
X. A. Wu, T. M. Huh, A. Sabin, S. A. Suresh, y M. R. Cutkosky, "Tactile Sensing and Terrain-Based Gait Control for Small Legged Robots", IEEE Trans. Robot., vol. 36, n.o 1, pp. 15-27, 2020.
[13]
B. Rouzbeh, G. M. Bone, G. Ashby, y E. Li, "Design, Implementation and Control of an Improved Hybrid Electric Actuator for Robot Arms", IEEE Access, vol. 7, pp. 14699-14713, 2019.
[14]
G. Ficht y S. Behnke, "Bipedal Humanoid Hardware Design: a Technology Review", Curr. Robot. Rep., vol. 2, n.o 2, pp. 201-210, jun. 2021.
[15]
A. W. Abdul Ali, F. A. Abdul Razak, y N. Hayima, "A Review on The AC Servo Motor Control Systems", Elektr.- J. Electr. Eng., vol. 19, n.o 2, pp. 22-39, ago. 2020.
[16]
S. Acharya, S. S. Chouhan, y J. Delsing, "Fabrication Process for On-Board Geometries Using a Polymer Composite-Based Selective Metallization for Next-Generation Electronics Packaging", Processes, vol. 9, n.o 9, 2021.
[17]
F. Perdigones, "Lab-on-PCB and Flow Driving: A Critical Review", Micromachines, vol. 12, n.o 2, 2021.
[18]
D. Durga Prasad y C. Vasanth Kumar, "Structural design of zoomorphic robot", IOP Conf. Ser. Mater. Sci. Eng., vol. 912, n.o 3, p. 032022, ago. 2020.
[19]
W. Adilio Matamoros, J. Luis Ordoñez Avila, y J. Luis Ordoñez Fernandez, "Spiral Method for Experimental Design of Mechanisms for Zoomorphic Robot in CAD Software", en 2020 6th International Conference on Robotics and Artificial Intelligence, New York, NY, USA, 2021, pp. 265-270.
[20]
J. B. Dubón, A. J. C. Ramos and J. L. Ordoñez-Avila, "Design and Fabrication of a Quadruped Zoomorphic Robot and Its Mathematical Model Using Denavit-Hartenberg Algorithm," 2023 8th International Conference on Control and Robotics Engineering (ICCRE), Niigata, Japan, 2023, pp. 221-226.

Index Terms

  1. V-Methodology for to Design a PCB of Control for Linear Electric Actuator for a Quadruped Zoomorphic Robo

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Other conferences
    ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
    September 2023
    335 pages
    ISBN:9798400708039
    DOI:10.1145/3655532
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 28 June 2024

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. MOSFET
    2. control system
    3. electric actuator
    4. zoomorphic robot

    Qualifiers

    • Research-article
    • Research
    • Refereed limited

    Conference

    ICRSA 2023

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • 0
      Total Citations
    • 8
      Total Downloads
    • Downloads (Last 12 months)8
    • Downloads (Last 6 weeks)1
    Reflects downloads up to 20 Feb 2025

    Other Metrics

    Citations

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    HTML Format

    View this article in HTML Format.

    HTML Format

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media