Design Consideration Of Steerpillar guidance Mechanism
The steerpillar guidance mechanism, also known as Path Following system, is one of the earliest and most widely used robotic navigation methods. It is used to guide robots to automatically layout a desired path along a predefined path or trajectory. The advantage of steerpillar guidance mechanism is that it is easy to implement. This paper discusses the design considerations that need to be taken into account when designing the steerpillar guidance mechanism.
Firstly, the steering column which is the most important component of the steerpillar guidance mechanism needs to be designed appropriately. The steering column should be designed to accommodate large turning angle so that a wide range of routes can be passed by the robot. It should also be designed to withstand high torque and heavy load. Secondly, the structure of the steering column should be adjustable and strong enough to maintain the stability of the whole system. It should be able to support the load and allow larger displacements.
Thirdly, the drive system is an essential part of the steerpillar guidance mechanism. It is responsible for providing power to the steering column and controlling its movement. The drive system should be able to support a wide range of speeds, acceleration, and control curves which are essential for obtaining the desired path following performance.
Fourthly, the sensor system is another important component of the steerpillar guidance mechanism. It is responsible for navigating the robot and for measuring its position relative to the reference frame. Since the sensor system is highly dependent on the environment and the type of route, it should be designed properly. The sensors should be selected according to the route requirements and should be able to provide accurate and reliable data.
Fifthly, the control system is another important component of the steerpillar guidance mechanism. It is responsible for controlling the motor control system, the sensor system, and the drive system in order to follow the given path precisely. The control system should be designed to be configurable, adaptive and fast.
Lastly, the physical design of the steerpillar guidance mechanism should be carefully considered. The size of the robot should be small and compact so that it can manoeuvre in a confined space and fit through tight spaces. It should also be stable enough to withstand environmental disturbances.
In conclusion, designing a steerpillar guidance mechanism requires careful consideration and analysis of various design considerations. The steering column, drive system, sensors, and control system should be designed to provide precise and reliable tracking performance. The physical design should also accommodate the robot in various environments and should be able to withstand environmental disturbances. By taking into consideration all these design considerations, the steerpillar guidance mechanism can be designed effectively and efficiently.
