Development of a double flywheel with pendulum-based spherical robot | |
| Author | Jinadasa, Janith Sahanaka |
| Call Number | AIT Thesis no.ISE-21-06 |
| Subject(s) | Robotics--Development Robot industry |
| 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 | Robots have a very big role in human life such as in industry, medicine, households. They come in all sizes and shaped depending on the type of work they intend to do. Some are locomotive while some are fixed to a particular station. When it comes to locomotive robots there are several types of robots used. Such as robots on wheels, legs, belts. Depending on the surface the robot moves in its design would vary. This study focuses on spherical robots to be used on rough terrains. The spherical robot is a novel mechanism design to move the robot in multi-conditioned surfaces. Unlike other kind oflegged or wheeled robots, the main feature that make a spherical different from others is the ground contact point which is very small. Traditionally spherical robots use a pendulum driven mechanism for locomotion, which is actuated by DC motors. But it has torque limitations. Hence, this study is related to increase the overall torque in the system using control moment gyroscopes. To reach the desired position, the GPS data is utilized as robot localization and robot's orientation is estimated by 9-degrees of freedom IMU while user can supply the target • GPS location and robot will reach to target position. |
| Year | 2021 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |