Wheeled Mobile Robots Advantages and Disadvantages

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Questions and Answers

What is a main advantage of using wheels in mobile robots?

They are good at navigating over obstacles

They cause less wear and tear on the surface (correct)

They have great difficulty in terms of balance issues

They are prone to stability issues

Why are wheels not very good at navigating over obstacles?

Because they are designed for rocky terrain

Because of low friction areas that they encounter (correct)

Because they are specifically built to overcome obstacles

Because they provide great traction on rough surfaces

Which type of wheeled mobile robot can be classified based on the drive system?

Magnetic drive WMRs

Differential drive WMRs (correct)

Hydraulic drive WMRs

Pneumatic drive WMRs

How many wheels are usually sufficient to guarantee stable balance in wheeled robots?

Three wheels (B) Signup and view all the answers

What do most wheeled robot research tend to focus on?

Problems of traction and stability, and control (A) Signup and view all the answers

What is the main advantage of wheeled mobile robots (WMRs) compared to legged robots?

Wheeled robots are simpler to design, build, and program (D) Signup and view all the answers

Which of the following is not a common type of wheeled mobile robot (WMR) mentioned in the text?

Hexapod WMR (C) Signup and view all the answers

Which statement accurately describes wheeled mobile robots?

No perfect drive system exists for them (A) Signup and view all the answers

Which type of wheeled mobile robot (WMR) has the ability to move sideways?

Mecanum wheel WMR (D) Signup and view all the answers

What is the main purpose of a robot's locomotion system?

To allow the robot to move from one place to another (B) Signup and view all the answers

Which type of robot locomotion is considered the simplest?

Wheeled mobile robots (C) Signup and view all the answers

What is the main factor that determines the type of robot locomotion system used?

The robot's intended use (C) Signup and view all the answers

What type of mobile robot is a differential wheeled robot?

A robot with two separately driven wheels (A) Signup and view all the answers

How does a differential wheeled robot change its direction?

By varying the relative rate of rotation of its wheels (C) Signup and view all the answers

What determines the heading or orientation of a differential wheeled robot?

The difference between the velocity of the left wheel and the right wheel (A) Signup and view all the answers

How do differential drive vehicles work in terms of velocity difference between wheels?

The heading or orientation is determined by the difference in velocity (D) Signup and view all the answers

What is the main advantage of a differential wheeled robot over other systems in terms of steering?

It does not require an additional steering motion (B) Signup and view all the answers

Which part of robotics involves studying motion without considering the forces that cause it?

Kinematics (B) Signup and view all the answers

Study Notes

Wheel Control and Wheeled Mobile Robots

Wheel control is less complex and causes less wear and tear on the surface where they move compared to other solutions.
Wheels do not present great difficulty in terms of balance issues since the robot is usually in contact with a surface.
The main disadvantage of wheels is that they are not good at navigating over obstacles, such as rocky terrain, sharp surfaces, or areas with low friction.

Classification of Wheeled Mobile Robots (WMRs)

WMRs can be classified according to their drive system:
- Differential drive WMRs
- Car-type WMRs
- Omnidirectional WMRs
- Synchro drive WMRs

Characteristics of Wheeled Mobile Robots (WMRs)

Stability is not usually a great problem in WMRs, as they are designed to have all wheels in contact with the ground at all times.
Three wheels are sufficient to guarantee stable balance, although two-wheeled robots can also be stable.

Robot Locomotion

Locomotion is the method of moving from one place to another.
The mechanism that makes a robot capable of moving in its environment is called robot locomotion.
Robot locomotion systems depend on the medium in which the robot moves and technical criteria such as maneuverability, controllability, terrain conditions, efficiency, stability, and so on.

Classification of Mobile Robots According to Locomotion

Mobile robots can be classified into the following major categories:
- Stationary (arm/manipulator)
- Land-based
  - Wheeled mobile robot (WMR)
  - Walking (or legged) mobile robot
  - Tracked slip/skid locomotion
  - Hybrid
- Air-based
- Water-based

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Description

Explore the advantages and disadvantages of wheeled mobile robots compared to other solutions. Learn about the benefits of less wear and tear, ease of control, and limitations in navigating over obstacles.