Mechatronics design of super compact mobile robot

• Main Author: Jee, Justin You Wang
• Other Authors: Chen I-Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Mechanical engineering::Mechatronics
• Online Access: https://hdl.handle.net/10356/158840
• Institution: Nanyang Technological University

This design report is to document the design process of a robotic platform as well as fabricating of parts mechanically and electronically. While designing this mobile robotic platform, the main aim of the robot is t able to perform task in any given situations with the optimal working condition. This design project encompasses multiple designs consideration, ranging from the internal frame chassis to drive system along with the required electrical system, power and communication system. The design consists of a 4-wheeled drive design with sufficient ground clearance. Taking the concept of a tank design and shrink it down, instead of tracks, 4 wheels replaced with skid-steering concept. Mechanically, using such configuration will provide the robot a better maneuverability as well as the least turning radius, which is approximately zero. Besides that, the design will also be compact as no other mechanism involved in the steering system. Nonetheless, the payload will also be required to be taken into consideration to ensure that the robot is still able to move after all components are assembled. The robot has multiple electrical components that requires different voltage as well, thus, a battery of the maximum voltage must be considered for the highest voltage component. Lastly, to design the control system to drive the system as a form of propulsion to move the platform as a proof of concept of the prototype.