Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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
2008.
Keywords [en]
Technology, MotherBot, Urban Area, Torque, Impact, Center of Mass, Zero, Moment Point, Rotational Energy
Keywords [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-56729ISRN: LTU-PB-EX--08/114--SELocal ID: d7bbd9fa-c79f-4e0e-89fd-7e541d04be23OAI: oai:DiVA.org:ltu-56729DiVA, id: diva2:1030116
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Examiners
Note
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(14073 kB)27 downloads
File information
File name FULLTEXT01.pdfFile size 14073 kBChecksum SHA-512
d038c407152fee6ee6587b5325fcbe8ad3b5b3a360c380e848c4d16e868775de0f077802922f91a78a90911964199c37ab9c63183506d1c651a92ac721be2754
Type fulltextMimetype application/pdf

Search outside of DiVA

GoogleGoogle Scholar
Total: 27 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 19 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf