Design and analysis of a hybrid locomotion system for mobile robot

• Main Author: Jamali, Qadir Bakhsh
• Format: Thesis
• Language: English; English
• Published: 2014
• Subjects: TJ Mechanical engineering and machinery; TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
• Online Access: http://eprints.uthm.edu.my/1664/1/24p%20QADIR%20BAKHSH%20JAMALI.pdf; http://eprints.uthm.edu.my/1664/2/QADIR%20BAKHSH%20JAMALI%20WATERMARK.pdf; http://eprints.uthm.edu.my/1664/
• Institution: Universiti Tun Hussein Onn Malaysia

Mobile robots are defined as autonomous mechanical device, which performs automated tasks either by predefined program or under human guidance by using remote control devices. The use of mobile robots is limited due to the lack of an effective locomotion system. There are few kinds of locomotion mechanism used in mobile robot such as wheel, track and leg. A major unresolved issue for most industrial and other applications is to complete the task in the various terrains such as stairs, smooth and rough path etc. This study proposed a new design of hybrid locomotion system for mobile robots. It is the combination of wheel and track type locomotion system resulting as a hybrid mechanism that includes a flexible and versatile interchangeable locomotion. A 3D virtual model was designed in CAD software. For smooth transformation a new switchover module called track tensioner unit that facilitates the engaging and releasing of track mechanism was developed and included in the system. The three wheeled locomotion mechanism used in this system would enable the robot to move on flat path at reasonable high velocity and maneuverability. The track system provides very reliable robot mobility on rough terrain. To ensure structural integrity, several selected parts of model were analyzed to ascertain their mechanical behavior under static load condition by using Solidworks simulation tool. From literature reviews, two type of materials namely Aluminum alloy AL6061-T6 and Aluminum alloy AL7075-T6 were short listed. The stability of these materials was then further analyzed using finite element method according to the current design specifications. The results proved that Aluminum alloy AL7075-T6 to be more suitable for this type of mobile robot.