Development and control of a stair-climbing vacuum cleaner robot | |
| Author | Kanyasorn Phongphaitoonsin |
| Call Number | AIT Thesis no.ISE-24-07 |
| Subject(s) | Autonomous robots Personal robotics Vacuum cleaners--Technological and innovations |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics and Machine Intelligence |
| Publisher | Asian Institute of Technology |
| Abstract | This thesis addresses the limitations of existing stair-climbing mechanisms, which are often characterized by large size, complexity, or high cost. Introducing a novel approach, a vacuum cleaner robot tailored for stair climbing is proposed and developed herein. Utilizing a scissor lift design, the robot incorporates three legs strategically weighted for enhanced stability through center of gravity analysis. Each leg is equipped with a stepper motor for precise control, while mecanum wheels, actuated by N20 gear motors, facilitate omnidirectional movement. The sensing and control system employ low-cost sensors, specifically ultrasonic and microswitch, to detect stair edges.Experimental evaluation encompasses movement, turning, and ascent/descent timing. While movement experiments reveal errors attributed to the six-wheel design, turning angles remain acceptable despite positional shifts. Optimal stepper motor control is determined at 500 steps per second, synchronized with the speed of N20 gear motors across all experiments. Notably, the implemented sensing and control system demonstrate successful stair climbing and fall prevention during descent. |
| Year | 2024 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Huynh, Trung Luong;Mongkol Ekpanyapong; |
| Scholarship Donor(s) | His Majesty the King's Scholarships (Thailand); |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2024 |