Development of an automatic self-balance platform for stair-climbing mobile robot

• Main Author: Fan, Ruiming
• Other Authors: Chen I-Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/153702
• Institution: Nanyang Technological University

Robot has been widely used in various fields of human lives nowadays to reduce human labor and help perform dangerous constructions. Climbing robots are one of the most popular types used for industrialized tasks involving safety risks to humans such as construction sites. The project is to design a convenient stair climbing robot with a self-balancing platform mounted on it to help the workers in construction sites to carry the heavy things up and downstairs without complicated remoting. - The author’s main role in the project is to design a self-balanced platform to help the robot carry the heavy stuff when climbing stairs at the same time. To complete this task, force analysis or the autonomous vehicle while climbing and PID control theory will be needed. This report begins with an introduction to the background and objective of the project. Then a detailed process of research and experiment will be presented. Additionally, some contribution in other area to the whole project will be introduced. Finally, limitations and recommendations for future work will be discussed. KEYWORDS: Stair climbing, Self-balancing, PID control, Rotation matrix, Force analysis