Design considerations for a mobile robot with end effector

The research in this dissertation is based on the foundation of robot technology, and the structural design of omnidirectional mobile robot with end effector is discussed. First, the advantages and disadvantages of various mobile robot platform design schemes are analyzed and discussed. Based on th...

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Main Author: Zhang, Kaiyan
Other Authors: Chen I-Ming
Format: Theses and Dissertations
Language:English
Published: 2019
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Online Access:http://hdl.handle.net/10356/77051
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-770512023-03-11T17:40:29Z Design considerations for a mobile robot with end effector Zhang, Kaiyan Chen I-Ming School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Robots The research in this dissertation is based on the foundation of robot technology, and the structural design of omnidirectional mobile robot with end effector is discussed. First, the advantages and disadvantages of various mobile robot platform design schemes are analyzed and discussed. Based on the analysis of different design schemes and the consideration of the robot operating environment, the structure of the omnidirectional mobile robot based on Mecanum wheel is designed. Secondly, the parameters of the wheel are analyzed. According to the design requirements of the mobile robot, a Mecanum wheel with a diameter of 152 mm was selected. Third, the design of the drive motor and the reduction gearbox was calculated and analyzed. Through the analysis of different suspension system schemes, an independent suspension system is designed, which consists of a single longitudinal arm structure composed of springs and dampers. Fourthly, from the perspective of kinematics, the influence of the layout of the Mecanum wheel on the controllability of the mobile platform is calculated and analyzed, and the optimal "O" layout is determined. Fifth, the kinematics analysis of the mobile platform based on the Mecanum wheel provides theoretical support for the design of the motion control system. Master of Science (Smart Product Design) 2019-05-05T12:39:50Z 2019-05-05T12:39:50Z 2019 Thesis http://hdl.handle.net/10356/77051 en 79 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle DRNTU::Engineering::Mechanical engineering::Robots
Zhang, Kaiyan
Design considerations for a mobile robot with end effector
description The research in this dissertation is based on the foundation of robot technology, and the structural design of omnidirectional mobile robot with end effector is discussed. First, the advantages and disadvantages of various mobile robot platform design schemes are analyzed and discussed. Based on the analysis of different design schemes and the consideration of the robot operating environment, the structure of the omnidirectional mobile robot based on Mecanum wheel is designed. Secondly, the parameters of the wheel are analyzed. According to the design requirements of the mobile robot, a Mecanum wheel with a diameter of 152 mm was selected. Third, the design of the drive motor and the reduction gearbox was calculated and analyzed. Through the analysis of different suspension system schemes, an independent suspension system is designed, which consists of a single longitudinal arm structure composed of springs and dampers. Fourthly, from the perspective of kinematics, the influence of the layout of the Mecanum wheel on the controllability of the mobile platform is calculated and analyzed, and the optimal "O" layout is determined. Fifth, the kinematics analysis of the mobile platform based on the Mecanum wheel provides theoretical support for the design of the motion control system.
author2 Chen I-Ming
author_facet Chen I-Ming
Zhang, Kaiyan
format Theses and Dissertations
author Zhang, Kaiyan
author_sort Zhang, Kaiyan
title Design considerations for a mobile robot with end effector
title_short Design considerations for a mobile robot with end effector
title_full Design considerations for a mobile robot with end effector
title_fullStr Design considerations for a mobile robot with end effector
title_full_unstemmed Design considerations for a mobile robot with end effector
title_sort design considerations for a mobile robot with end effector
publishDate 2019
url http://hdl.handle.net/10356/77051
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