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Degree

Master of Science (MS), Ohio University, Mechanical Engineering (Engineering), 2004.

Abstract

This thesis presents an overview of search and rescue mobile robots associated with RoboCup and the IGVC. The design of the Ohio University robot that will compete in RoboCup Search and Rescue competitions is explained as well as future work to be done. Solid modeling and FEA analysis of the robot is shown. A stall-torque model is derived as well as the top no-load speed of each tire. These calculations are then compared to real world data. Based on velocity and acceleration data from testing, the robot behaves as was predicted by the calculations. The control of the robot is discussed in the thesis. Open-loop control is the method used for evaluation in this thesis. Closed-loop control and methods to implement it are discussed as well. It was found that the robot can leave marks on concrete and linoleum as well as leave tracks in grass. Recommendations were made to keep this robot from harming any surface it drives on.

Keywords

Mobile Robot; Stall-Torque Model; Open-Loop Control; Closed-Loop Control

Advisor

Robert L. Williams, II

Pages

109p.

Document number: ohiou1176921842
Permalink: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1176921842

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