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Impact dampening of a tracked rover
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The robot used in this thesis is MotherBot, that offers significant advantages over small robots in case of overcoming obstacles, power charging and carrying multiple robots at the same time. The size and rigid structure of the MotherBot are the critical issues which demand precise controlling while overcoming obstacles. Loss of precision may cause collision that may damage the ship itself, small robots and hardware on board. This work discusses the background of the work performed in the area of stair climbing robots. Based on the problem defined for this thesis work, some previous works have been identified. The report contains the advantages of the multi robot systems, locomotion and also tracked rover. Furthermore, it provides an overview of system limitations, followed by analysis of center of mass, effects of several factors on zero moment point of the system and torque, which are then verified by doing tests on a physical system. In the end a control scheme was designed, discussed and tested. The results shows a significant minimization of impact with which the Motherbot hits the ground. Finally this report covers some useful analysis and flaws in the structure of MotherBot and further possibilities of achieving the targeted goals.

Place, publisher, year, edition, pages
Keyword [en]
Technology, MotherBot, Urban Area, Torque, Impact, Center of Mass, Zero, Moment Point, Rotational Energy
Keyword [sv]
URN: urn:nbn:se:ltu:diva-56729ISRN: LTU-PB-EX--08/114--SELocal ID: d7bbd9fa-c79f-4e0e-89fd-7e541d04be23OAI: diva2:1030116
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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