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Stability is one of the key factors in designing a platform for mobile robot.<p> <br /> <br /> <br /> This theses is about a case study of enhancement of stability in Andros type mobile robot platform, by using an auxiliary chassis to alter the position of the center of mass...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/11460 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Stability is one of the key factors in designing a platform for mobile robot.<p> <br />
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This theses is about a case study of enhancement of stability in Andros type mobile robot platform, by using an auxiliary chassis to alter the position of the center of mass.<p> <br />
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In order to change the position of the center of mass, the auxiliary chassis is driven in accordance to the inclination of the main chassis. Thus the position of the center of mass will shift downward, enhancing the stability of the platform.<p> <br />
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Testing of the platform is done by inclining it until it reached the critical angle, by which the platform is about to stumble. The test is conducted either with the auxiliary chassis installed or without the auxiliary chassis. The resulting critical angles from different positions are observed and compared.<p> <br />
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From the test, it is concluded that the instalation of the auxiliary chassis is able to change the position of the center of mass, which can be observed from the increase of the platform’s critical angle. |
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