Mechanical design and analysis of all-terrain mobile robot

• Main Authors: Din, Abdul Talib, Tan, Chee Fai, Ng, Eng Sia
• Format: Article
• Language: English
• Published: Penerbit UTM Press 2012
• Subjects: T Technology (General)
• Online Access: http://eprints.utem.edu.my/id/eprint/8252/1/1258-1760-1-PB-_All_terrain_Robot.pdf; http://eprints.utem.edu.my/id/eprint/8252/; http://ww.jurnalteknologi.utm.my
• Institution: Universiti Teknikal Malaysia Melaka

This paper presents the conceptual mechanical analysis of the all-terrain mobile robot (AMoBo). The locomotion concept for all-terrain mobile robot is based on six independent motorized wheels. The mobile robot has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the vehicle is realized by synchronizing the steering of the front and rear wheels and the speed difference of the bogie wheels. A prototype AMoBo was designed and fabricated. The developed prototype is about 66 cm in length and 23 cm in height. Testing size results show that the prototype able to overcome obstacles of same height as its wheel diameter and can climb stairs with step height of over 10 cm. Finite element analysis was used to analyse and verify the strength of each critical part of AMoBo. The base plate appeared to be the critical part with the highest shear stress and the lowest safety factor.