Characteristics of a Mower Robot with Swing Mower Mechanism by Simulation

Ryota Suzuki, Yoshihisa Uchida

2018

Abstract

This study proposes a new mower robot with a swing mower mechanism for advantages such as a string trimmer and a wide swath. The proposed swing mower mechanism is designed for installation in the main body of a four-wheel drive mower robot AMR-D01. The AMR-D01 had overall dimensions as follows: 0.60 m length, 0.50 m width, and 0.30 m height; it weighs 28 kg and maximum velocity is 1.29 m/s. The swing mower mechanism is based on the lever-crank mechanism and translates motor rotation into swing of the rotary blade. We model the mechanism and simulate the characteristics of the centroid movement, sideslip, energy consumption, and operation time to evaluate the swing mower mechanism. The robot velocity is controlled to prevent the occurrence of the unmown spot. Swath is increased from 0.24 m to 0.62 m by 2.58 using the mechanism. The operation time is also decreased by 1/2.58. The swing mower mechanism does not have much influence on the robot movement. The change of the static friction coefficient and the slope angle also does not have much influence on the sideslip of the robot under the present conditions. The energy consumption increases with the increasing robot velocity.

Paper Citation

in Harvard Style

Suzuki R. and Uchida Y. (2018). Characteristics of a Mower Robot with Swing Mower Mechanism by Simulation.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 307-312. DOI: 10.5220/0006856903070312

in Bibtex Style

@conference{icinco18,
author={Ryota Suzuki and Yoshihisa Uchida},
title={Characteristics of a Mower Robot with Swing Mower Mechanism by Simulation},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={307-312},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006856903070312},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Characteristics of a Mower Robot with Swing Mower Mechanism by Simulation
SN - 978-989-758-321-6
AU - Suzuki R.
AU - Uchida Y.
PY - 2018
SP - 307
EP - 312
DO - 10.5220/0006856903070312