Author
Balcı, Barış, Yıldırım, Mehmet Can, Bebek, Özkan
Publication Date
2018-12
Publication Place
-
Gazi University
Subject
Planetary rovers, Field robots, Mechanical robot design, Planetary rovers, Land robots, Robot mechanical design
Type
Periodical
Language
Turkish
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1302-0900
Record ID
b6a201b9-c4da-476a-8eb2-dbb209137d05
Library Location
Mechanical Engineering
Date
2018-12
Sample Text
Merih-2 is a rover designed by the Özyeğin University Rover Team to participate in the University Rover Challenge 2016 and European Rover Challenge 2016 and to operate under Martian conditions. Merih-2 has 6 specially designed wheels for driving. All wheels are driven by electric motors for high traction. Changing direction while moving is made possible by changing the directions of the front and rear wheels together. There is a Rocker-Bogie mechanism that ensures that at least four of the wheels touch the ground and a differential that balances this mechanism. Merih-2 also has a 4-degree-of-freedom robotic arm for manipulation of objects in the environment. A multifunctional gripper is attached to this robotic arm and it is planned to perform tasks such as taking a screwdriver and turning on and off switches to assist astronauts. In this article; The design details of Merih-2, the gains obtained from the prototype produced, and suggestions that can eliminate the problems experienced during the operation of the rover are explained., Merih-2 is designed to serve under the Mars conditions and to join the University Rover Challenge 2016 and the European Rover Challenge 2016 by the Özyeğin University Rover Team. For locomotion, the Merih-2 has 6 specially designed wheels. All wheels are driven by electric motors for high traction. The steering of the rover is provided by changing the directions of the front and rear wheels together. A Rocker-Bogie Mechanism that allows at least four wheels to keep ground contact, and a differential that assumes the task of balancing this mechanism is used. Merih-2 also has a 4-degree-of-freedom robot arm for manipulating objects in the surroundings. This robotic arm is equipped with a multifunctional holder and is intended to assist astronauts in tasks such as tool retrieval, turning on and off of switches. This article describes the design details of Merih-2 and the gains from the prototype production. Moreover, the article focuses on the test results that are obtained at ERC 2016 and discusses the roadmap for a better prototype.
Cilt
21
