Design and analysis of a hybrid locomotion system for mobile robot
Mobile robots are defined as autonomous mechanical device, which performs automated tasks either by predefined program or under human guidance by using remote control devices. The use of mobile robots is limited due to the lack of an effective locomotion system. There are few kinds of locomoti...
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| Format: | Thesis |
| Language: | English English |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/1664/1/24p%20QADIR%20BAKHSH%20JAMALI.pdf http://eprints.uthm.edu.my/1664/2/QADIR%20BAKHSH%20JAMALI%20WATERMARK.pdf |
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| Summary: | Mobile robots are defined as autonomous mechanical device, which performs
automated tasks either by predefined program or under human guidance by using
remote control devices. The use of mobile robots is limited due to the lack of an
effective locomotion system. There are few kinds of locomotion mechanism used in
mobile robot such as wheel, track and leg. A major unresolved issue for most
industrial and other applications is to complete the task in the various terrains such as
stairs, smooth and rough path etc. This study proposed a new design of hybrid
locomotion system for mobile robots. It is the combination of wheel and track type
locomotion system resulting as a hybrid mechanism that includes a flexible and
versatile interchangeable locomotion. A 3D virtual model was designed in CAD
software. For smooth transformation a new switchover module called track tensioner
unit that facilitates the engaging and releasing of track mechanism was developed
and included in the system. The three wheeled locomotion mechanism used in this
system would enable the robot to move on flat path at reasonable high velocity and
maneuverability. The track system provides very reliable robot mobility on rough
terrain. To ensure structural integrity, several selected parts of model were analyzed
to ascertain their mechanical behavior under static load condition by using
Solidworks simulation tool. From literature reviews, two type of materials namely
Aluminum alloy AL6061-T6 and Aluminum alloy AL7075-T6 were short listed. The
stability of these materials was then further analyzed using finite element method
according to the current design specifications. The results proved that Aluminum
alloy AL7075-T6 to be more suitable for this type of mobile robot. |
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