Evaluation of Carrying Capacity for a Modular Mobile Robot in a Linear Configuration

摘要

This paper presents a model base simulation of the carrying capacity in a modular mobile robot with 10 modules in different linear configuration. A MathWorks Simulink Simscape was used to simulate and identify the response of module numbers on a linear configuration in terms of velocity and distance. Each module is modeled as a differential drive mobile robot with forces acting upon it. A propose symbiotic mathematical model was used to evaluate the carrying capacity of different module configurations. The mathematical model was used to identify whether the number of modules will be harmful, beneficial or no effect to the system. Simulation results shows that there is an increase or decrease on the carrying capacity capabilities depending on the number of modules or species.