A development of a mobile robotic platform

• Main Author: Goh, Jun Ting.
• Other Authors: Lau Wai Shing, Michael
• Format: Final Year Project
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/40578
• Institution: Nanyang Technological University

The purpose of this report is to research and develop the manipulator of a mobile rescue robot which will be participating in the RoboCup Rescue League Competition. The development process will look into the designs of the arm and the end effector. The designs of the arm will look into the various concept of positioning the end effector in the required position in space. Each design will be evaluated based on the stress analysis and the working envelope. As for the end effector, the designs will look into ways of orientating the sensors and each design will be evaluated based on the working envelope. Sensors plays a very important part in the rescue mission and a research into specific types of sensors are done.. Both the carbon dioxide sensor and thermal sensor will be looked into. The carbon dioxide sensor is used to detect the presence of human respiration in confines spaces. The thermal sensor is used to detect heat from human body. After researching on the designs and the sensors, the frame for mounting the selected sensors will be look into. The selection of actuator for the manipulator arm and end effector will be done. The final product will form a manipulator that will perform to the required tasks.