Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
MODELING OF THE PARABOLIC KICK DEVICE OF OMNIDIRECTIONAL ROBOTS
Submission Author:
Eric Ezequiel Yoshida de Lima , SP , Brazil
Co-Authors:
Eric Ezequiel Yoshida de Lima, Daniela Vacarini de Faria, Reynaldo Santos de Lima, Marcos Maximo, Luiz Carlos Góes
Presenter: Eric Ezequiel Yoshida de Lima
doi://10.26678/ABCM.COBEM2021.COB2021-1710
Abstract
RoboCup is an international robotics competition to foster robotics and artificial intelligence research. In the RoboCup Small Size League (SSL), two teams of eleven (Division A) or six (Division B) physical omnidirectional robots compete in a soccer match. The teams typically develop their robot hardware, which is endowed by kicking mechanisms: the so-called kicker and chip kicker (chipper), which execute low and high kicks, respectively. In this paper, we simulate and optimize the chipper of our team ITAndroids' robot. Our chipper is a mechanism based on the acceleration of a piston, due to the magnetic field of a solenoid, which in turn collides with the chipper and perform the oblique launch of the ball. In this regard, our contribution is two-fold. First we show the equations that govern the dynamic system and how to implement them in a simulation using MATLAB and Simulink. After simulating the dynamical system, we noticed that it is possible to adjust the trajectory of the ball according to the time interval that the circuit is energized, which can be used for accurate kicks. Second, metaheuristic optimization was used by means of evolutionary strategies to obtain the best chipper geometry to improve the efficiency of the system, respecting the physical restrictions. To perform the optimization, the CMA-ES algorithm and a simple evolutionary strategy (SES) were used. A comparison of the two algorithms was carried out, and it was possible to observe that, due to the relative complexity of the problem, the CMA-ES, which is a more complete algorithm, obtained a better final result than the SES. The optimized design represents a considerable improvement (approximately 40%) from the current chipper used in our robot. The proposed methodology may benefit other SSL teams and serve as a guide for simulating and optimizing other electromechanical devices.
Keywords
chipper, kick, mechanics, Robotics, Optimization, CMA-ES
