Abstract
In this paper, we study and develop methods of forming modularized mobile platforms reconfigurable to suit general and specific applications. The existing solutions and the present state of the art of mobile robotics are reviewed. This paper proposes a method of building a mobile platform wherein individual components and mechanisms can be used as standalone fully functional devices. The modular structure of the platform comprises a basic configuration which includes a set of basic components for moving the device and generating a map of an internal area required to plan a route for the purpose of an assignment, said components housed inside the main or base platform unit. The add-on platform units are designed to house the auxiliary hardware to enhance the positioning and mobile functions of the platform. The platform also comprises a functional unit to house the hardware required for specific tasks assigned by the operator, said functional unit coming with a set of commonly used standard fixtures. The proposed method of building makes it possible to use a cluster of several base units for more complex applications. The modular structure is designed so that the configuration and base functionality of the platform can be switched without the need to wholly replace assemblies and mechanisms of the device.
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Pavliuk, N., Kharkov, I., Zimuldinov, E., Saprychev, V. (2020). Development of Multipurpose Mobile Platform with a Modular Structure. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_12
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DOI: https://doi.org/10.1007/978-981-13-9267-2_12
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