Design and development of an automatic jumping robot with a four-wheel drive system | |
| Author | Khaing Thandar Hnin |
| Subject(s) | Robotics -- Development Robots -- Design Four-Wheel Drive System Robots -- Automatic control |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | In this project, the jumping method is combined with the traditional wheeled method to increase the energy efficiency. The objective of this thesis to develop an autonomous jumping robot with four-wheeled drive system, which is capable to jump up to 10cm height of obstacles, with spring energy storage method. The mechanical configuration of four-wheeled jumping robot including the jumping mechanisms, launching mechanism and chassis are presented. The jumping motion is performed by releasing the extension spring with the aid of spiral disc through the slider against the ground. The two launching legs, which are pivoted with respect to the body, are used to pitch the whole body upward at a selected trajectory angle. The robot uses the inertial measurement unit (IMU) to detect the launched angle of the robot. The encoders at torque generated motors control the rotational front wheels for self-balancing during airborne. The robot can automatically adjust initial position after jumping. Mathematical models for jumping mechanism are presented. Besides observing the relationship between the jumping height and launching angle, the factors including spring rate and the total weight of the robot to the jumping performance are also analyzed in the experiment and simulation. Experimental results show the jumping robot is capable to launch up to 60 degrees and jump 12 cm above the ground. |
| Year | 2018 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Abeykoon, A.M. Harsha S.; |
| Scholarship Donor(s) | AIT Fellowship; |