Development of an autonomous rocker-bogie robot | |
| Author | Thidar Shwe Sin |
| Call Number | AIT Caps. Proj. no.ME-15-54 |
| Subject(s) | Robots--Control systems Autonomous robots |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-54 |
| Abstract | In this document, rover-bogie mechanism is determined to overcome the stairs and the steps. The main objective of this project is to develop the autonomous stair climbing robot. How ever in this paper, most of all researches are focused and the stability of the robot and the its posture. Analysis method, mechanism to climb the stairs, makes sure that we have achieved in this paper. Rocker bogie, certain of the length of the link, and spoke of the wheel, it is to check to see whether we could not mount the goal of stairs, kinematic analysis and posture is determined. We examined trajectory of the center of gravity of the bogie rocker wheels only three situation is in contact with the front of the stairs are analyzed. We developed a vehicle with bogie-rover mechanism capable climb steps. We developed an analytic technique to make the rocker-bogie mechanism can be increased in a staircase is provided in the current document. We calculated certain lengths of the linkages and radii of the wheels to climb up a target stair and the analytic technique of robot when the robot contact the stairs are determined. We analyze the traces of the mass center of the bogie-rocker while wheels are in contact with the stairs. The prototype robot rocker-bogie has six motorized wheels and a passive suspension system. The passive coupling mechanism ensures that the vehicle can pass during the step when the key step wheel, change the settings. We achieve the development of the rocker bogie mechanism which can operate also avoiding obstacles in this document. The robot has no sensors and no additional actuators to pass over the uneven terrain. One ultrasonic sensor is used to detect the walls and other obstacles and other to detect the step on the floor to overcome the steps. One MPU 6050 is operated for motion tracking of the robot. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-54 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Bohez, Erik L. J.;Mongkol Ekpanyapong; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2015 |