Design of a mobile robot to move on rough terrain

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Date

2005

Author

Kırmızıgül, Uğur

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In this thesis work, a mobile robot is designed to be used in search and rescue operations to help the human rescue workers. The difficult physical conditions in the ruins obstruct the movement. Therefore, it is aimed to design a search and rescue robot which can move easily on rough terrain and climb over the obstacles. The designed robot is made up of three modules. A connecting unit is designed that is situated between each module. This connecting unit which is composed of two universal and one revolute joint gives 5 DOF relative motions to the modules. On the other hand, the wheel̕s continuous contact with the ground is important while moving on rough terrain. In order to increase the adaptation of the robot to the rough terrain the rear axle is connected to the body with a revolute joint. Besides, skid steering system is used in the design of the robot to attain a compact and light solution which requires few parts. In the study, kinematic equations and dynamic equations of the robot are obtained to be used by the control program. The dynamic equations are obtained by using the Newton ا Euler formulation. The forces, which are transmitted by the connecting unit to the modules, and the reaction forces formed between the wheels and the ground are derived by using these equations. أFollow-the-Leader approachؤ is used as a control strategy to make the modules move in formation and to reduce the tracking problem. In this approach, the first module is the leader and the second and third modules follow it. A Matlab program is written to control the robot by using the constructed mathematical model of the robot. The reaction forces between the wheels and the ground are calculated through using the Matlab program written. Moreover to make the simulations of the robot for some cases, a model is constructed in ADAMS program.

Subject Keywords

Mechanical engineering.

URI

http://etd.lib.metu.edu.tr/upload/2/12606814/index.pdf
https://hdl.handle.net/11511/15611

Collections

Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

U. Kırmızıgül, “Design of a mobile robot to move on rough terrain,” M.S. - Master of Science, Middle East Technical University, 2005.