FINITE ELEMENT ANALYSIS AND PRODUCTION OF A BALANCE ROBOT DESIGNED TO BE USED IN THE FIELD OF ADVERTISING
Öz
This study presents the finite element analysis and prototype development of a self-balancing robot designed for applications in the advertising sector. The structural behavior and dynamic properties of the robot were analyzed using static, modal, and rigid body simulations in ANSYS software. Static analysis confirmed the mechanical durability of the robot by evaluating the forces acting on the motors and body, while modal analysis identified potential resonance conditions. Notably, in the third vibration mode, a deformation of 330.24 mm at 52.169 Hz was observed, indicating a critical resonance issue. To enhance structural efficiency, topology optimization was applied to the outer casing, resulting in a 14% reduction in mass (from 0.45392 kg to 0.39069 kg) while maintaining structural integrity. During the experimental phase, the prototype successfully demonstrated autonomous movement using integrated distance sensors. However, initial tests revealed a wobbling motion due to insufficient motor power, which will be addressed in future iterations by incorporating higher-torque motors. The proposed robot has the potential to serve as an interactive advertising tool, capable of attracting attention through dynamic motion and engaging promotional content display. Future work will focus on enhancing stability and refining control algorithms to improve performance in real-world advertising environments.
Anahtar Kelimeler
Self-Balancing Robot Finite Element Analysis Topology Optimization Advertising.
Destekleyen Kurum
This project was supported by the application numbered 1919B012335179 within the scope of TÜBİTAK 2209-A University Students Research Projects Support Programme 2023 second term.
Proje Numarası
TÜBİTAK 2209-A ,1919B012335179
Kaynakça
- 1. Mudeng, V., Hassanah, B., Priyanto, Y. T. K., & Saputra, O., “Design and simulation of two-wheeled balancing mobile robot with pid controller”, International Journal of Sustainable Transportation Technology, Vol. 3 Issue 1, Pages 12-19, 2020.
- 2. Sujiwa, A. and Suhadata ., “Design and construction of a self balancing robot using long range control based on nrf24l01”, BEST : Journal of Applied Electrical, Science, &Amp; Technology, Vol. 5, Issu 2, Pages 34-37, 2023
- 3. Nguyen, P., Nguyen, V., Cu, M., Nguyen, M., Trinh, M., Hoang, D., … & Hoang, D.,“Pid controller for balancing one-wheeled self-balancing robot”, Robotica &Amp; Management, Vol. 27 Issue 1, Pages 23-27, 2022
- 4. Ruan, X., Dynamic modeling and nonlinear control of spherical-wheeled robot. DEStech Transactions on Computer Science and Engineering, (CCNT), 2018.
- 5. Yan, J. and Yang, H., “Hierarchical reinforcement learning based self-balancing algorithm for two-wheeled robots”, The Open Electrical &Amp; Electronic Engineering Journal, Vol. 10 Issue 1, Pages 69-79, 2016.
- 6. Narita, M., Aoki, D., Miyauchi, M., Nakagawa, S., Tsuchiya, Y., & Matsuhira, N. Demonstration experiments of a distributed questionnaire service using multiple robots with the aim of marketing at a tourist site. International Journal of Smart Computing and Artificial Intelligence, Vol. 2 Issue 1, Pages 1-21, 2018.
- 7. Nakagawa, D., Akutsu, H., Furuta, N., Yasuda, K., Takahashi, K., Watase, M., … & Narita, M. Marketing system utilizing a robot and smartphone. 2015 IEEE/SICE International Symposium on System Integration (SII), Pages 662-66, 2015..
- 8. Han, H., Kim, S. I., Lee, J., & Jung, I. Understanding the drivers of consumers’ acceptance and use of service robots in the hotel industry. International Journal of Contemporary Hospitality Management, Vol. 37, Issue 2, Pages 541-559, 2024. 9. Knudsen, M. S. and Kaivo‐oja, J.Collaborative robots: frontiers of current literature. Journal of Intelligent Systems: Theory and Applications, Pages 13-20, 2020.
- 10. Sakaguchi, T., Okafuji, Y., Matsumura, K., Baba, J., & Nakanishi, J. An estimation framework for passerby engagement interacting with social robots, 2022.
- 11. Okafuji, Y., Ozaki, Y., Baba, J., Nakanishi, J., Ogawa, K., Yoshikawa, Y., … & Ishiguro, H. Behavioral assessment of a humanoid robot when attracting pedestrians in a mall. International Journal of Social Robotics, Vol. 14, Issue 7, Pages 1731-1747, 2022.
- 12. Pertiwi, K., Agustian, A., Silitonga, J., Sinaga, H., Siahaan, F., Silverius S, H., … & Joni, J. Perbandingan metode kontrol p, pd, pi, dan pid pada robot self-balancing beroda dua. Briliant: Jurnal Riset Dan Konseptual, Vol. 9, Issue 1, Pages 214, 2024.
- 13. González-Jiménez, H. Taking the fiction out of science fiction: (self-aware) robots and what they mean for society, retailers, and marketers. Futures, Vol. 98, Pages 49-56, 2018.
- 14. Qu, B. Development space and prospects of self-balancing car. Highlights in Science, Engineering and Technology, Vol. 46, Pages 42-48, 2023.
- 15. Zhang, Y., Song, Y., Lu, F., Zhang, D., Yang, L., Cui, T., & Zhang, K. Design and experiment of greenhouse self-balancing mobile robot based on PR joint sensor. Agriculture, Vol. 13, Issue 10, Pages 2040, 2023.
- 16. Letcher, T., & Waytashek, M., “Material property testing of 3D-printed specimen in PLA on an entry-level 3D printer”, In ASME International Mechanical Engineering Congress and Exposition, Vol. 46438, Pages V02AT02A014, November 2014. American Society of Mechanical Engineers.
- 17. Koçak, M. T., & Bayraklılar, M. S. Mechanical shaft optimization: A study on static structural analysis and topological optimization in ANSYS. International Journal of 3D Printing Technologies and Digital Industry, Vol. 7, Issue 3, Pages 541-549, 2023.
- 18. Nishiwaki, S. and Terada, K. (2017). Advanced topology optimization. International Journal for Numerical Methods in Engineering, Vol. 113, Issue 8, Pages 1145-1147.
- 19. Chuang, C., Chen, S., Yang, R., & Vogiatzis, P. (2017). Topology optimization with additive manufacturing consideration for vehicle load path development. International Journal for Numerical Methods in Engineering, Vol. 113, Issue 8, Pages 1434-1445.
FINITE ELEMENT ANALYSIS AND PRODUCTION OF A BALANCE ROBOT DESIGNED TO BE USED IN THE FIELD OF ADVERTISING
Öz
This study presents the finite element analysis and prototype development of a self-balancing robot designed for applications in the advertising sector. The structural behavior and dynamic properties of the robot were analyzed using static, modal, and rigid body simulations in ANSYS software. Static analysis confirmed the mechanical durability of the robot by evaluating the forces acting on the motors and body, while modal analysis identified potential resonance conditions. Notably, in the third vibration mode, a deformation of 330.24 mm at 52.169 Hz was observed, indicating a critical resonance issue. To enhance structural efficiency, topology optimization was applied to the outer casing, resulting in a 14% reduction in mass (from 0.45392 kg to 0.39069 kg) while maintaining structural integrity. During the experimental phase, the prototype successfully demonstrated autonomous movement using integrated distance sensors. However, initial tests revealed a wobbling motion due to insufficient motor power, which will be addressed in future iterations by incorporating higher-torque motors. The proposed robot has the potential to serve as an interactive advertising tool, capable of attracting attention through dynamic motion and engaging promotional content display. Future work will focus on enhancing stability and refining control algorithms to improve performance in real-world advertising environments.
Anahtar Kelimeler
Self-Balancing Robot Finite Element Analysis Topology Optimization Advertising.
Etik Beyan
Proje, akademik etik kurallarına ve uygulamalara uygun olarak gerçekleştirilmiştir.
Destekleyen Kurum
TÜBİTAK
Proje Numarası
TÜBİTAK 2209-A ,1919B012335179
Teşekkür
Bu proje, TÜBİTAK 2209-A Üniversite Öğrencileri Araştırma Projeleri Destekleme Programı 2023 yılı ikinci dönem kapsamında 1919B012335179 numaralı başvuru ile desteklenmiştir.
Kaynakça
- 1. Mudeng, V., Hassanah, B., Priyanto, Y. T. K., & Saputra, O., “Design and simulation of two-wheeled balancing mobile robot with pid controller”, International Journal of Sustainable Transportation Technology, Vol. 3 Issue 1, Pages 12-19, 2020.
- 2. Sujiwa, A. and Suhadata ., “Design and construction of a self balancing robot using long range control based on nrf24l01”, BEST : Journal of Applied Electrical, Science, &Amp; Technology, Vol. 5, Issu 2, Pages 34-37, 2023
- 3. Nguyen, P., Nguyen, V., Cu, M., Nguyen, M., Trinh, M., Hoang, D., … & Hoang, D.,“Pid controller for balancing one-wheeled self-balancing robot”, Robotica &Amp; Management, Vol. 27 Issue 1, Pages 23-27, 2022
- 4. Ruan, X., Dynamic modeling and nonlinear control of spherical-wheeled robot. DEStech Transactions on Computer Science and Engineering, (CCNT), 2018.
- 5. Yan, J. and Yang, H., “Hierarchical reinforcement learning based self-balancing algorithm for two-wheeled robots”, The Open Electrical &Amp; Electronic Engineering Journal, Vol. 10 Issue 1, Pages 69-79, 2016.
- 6. Narita, M., Aoki, D., Miyauchi, M., Nakagawa, S., Tsuchiya, Y., & Matsuhira, N. Demonstration experiments of a distributed questionnaire service using multiple robots with the aim of marketing at a tourist site. International Journal of Smart Computing and Artificial Intelligence, Vol. 2 Issue 1, Pages 1-21, 2018.
- 7. Nakagawa, D., Akutsu, H., Furuta, N., Yasuda, K., Takahashi, K., Watase, M., … & Narita, M. Marketing system utilizing a robot and smartphone. 2015 IEEE/SICE International Symposium on System Integration (SII), Pages 662-66, 2015..
- 8. Han, H., Kim, S. I., Lee, J., & Jung, I. Understanding the drivers of consumers’ acceptance and use of service robots in the hotel industry. International Journal of Contemporary Hospitality Management, Vol. 37, Issue 2, Pages 541-559, 2024. 9. Knudsen, M. S. and Kaivo‐oja, J.Collaborative robots: frontiers of current literature. Journal of Intelligent Systems: Theory and Applications, Pages 13-20, 2020.
- 10. Sakaguchi, T., Okafuji, Y., Matsumura, K., Baba, J., & Nakanishi, J. An estimation framework for passerby engagement interacting with social robots, 2022.
- 11. Okafuji, Y., Ozaki, Y., Baba, J., Nakanishi, J., Ogawa, K., Yoshikawa, Y., … & Ishiguro, H. Behavioral assessment of a humanoid robot when attracting pedestrians in a mall. International Journal of Social Robotics, Vol. 14, Issue 7, Pages 1731-1747, 2022.
- 12. Pertiwi, K., Agustian, A., Silitonga, J., Sinaga, H., Siahaan, F., Silverius S, H., … & Joni, J. Perbandingan metode kontrol p, pd, pi, dan pid pada robot self-balancing beroda dua. Briliant: Jurnal Riset Dan Konseptual, Vol. 9, Issue 1, Pages 214, 2024.
- 13. González-Jiménez, H. Taking the fiction out of science fiction: (self-aware) robots and what they mean for society, retailers, and marketers. Futures, Vol. 98, Pages 49-56, 2018.
- 14. Qu, B. Development space and prospects of self-balancing car. Highlights in Science, Engineering and Technology, Vol. 46, Pages 42-48, 2023.
- 15. Zhang, Y., Song, Y., Lu, F., Zhang, D., Yang, L., Cui, T., & Zhang, K. Design and experiment of greenhouse self-balancing mobile robot based on PR joint sensor. Agriculture, Vol. 13, Issue 10, Pages 2040, 2023.
- 16. Letcher, T., & Waytashek, M., “Material property testing of 3D-printed specimen in PLA on an entry-level 3D printer”, In ASME International Mechanical Engineering Congress and Exposition, Vol. 46438, Pages V02AT02A014, November 2014. American Society of Mechanical Engineers.
- 17. Koçak, M. T., & Bayraklılar, M. S. Mechanical shaft optimization: A study on static structural analysis and topological optimization in ANSYS. International Journal of 3D Printing Technologies and Digital Industry, Vol. 7, Issue 3, Pages 541-549, 2023.
- 18. Nishiwaki, S. and Terada, K. (2017). Advanced topology optimization. International Journal for Numerical Methods in Engineering, Vol. 113, Issue 8, Pages 1145-1147.
- 19. Chuang, C., Chen, S., Yang, R., & Vogiatzis, P. (2017). Topology optimization with additive manufacturing consideration for vehicle load path development. International Journal for Numerical Methods in Engineering, Vol. 113, Issue 8, Pages 1434-1445.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Kontrol Mühendisliği, Mekatronik ve Robotik (Diğer), Makine Mühendisliğinde Optimizasyon Teknikleri |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Proje Numarası | TÜBİTAK 2209-A ,1919B012335179 |
| Yayımlanma Tarihi | 30 Nisan 2025 |
| Gönderilme Tarihi | 29 Ekim 2024 |
| Kabul Tarihi | 4 Nisan 2025 |
| Yayımlandığı Sayı | Yıl 2025 Cilt: 9 Sayı: 1 |
Kaynak Göster
Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.