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. ; Validerat; 20101217 (root)


    Access

    Download


    Export, share and cite



    Title :

    Impact dampening of a tracked rover


    Contributors:

    Publication date :

    2008-01-01


    Remarks:

    Local d7bbd9fa-c79f-4e0e-89fd-7e541d04be23


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Impact dampening Grips

    STOLTZ IVAN | European Patent Office | 2024

    Free access

    IMPACT DAMPENING SYSTEM FOR SEAT BELT

    CAKMAK ZAFER / CAKMAK MUHARREM / SUMER RESAT OGUZHAN et al. | European Patent Office | 2020

    Free access

    Dampening platform

    NOWACK PAUL F | European Patent Office | 2017

    Free access

    Mechanism-Parameters Optimization of a Reconfigurable Tracked Mobile Modular Deep-Sea Rover ROV

    Zhang, Yunxiu / Zhang, Qifeng / Zhang, Aiqun et al. | IEEE | 2018


    VIBRATION DAMPENING DEVICE

    UEKI AKIRA / NAGASHIMA YASUYUKI / SATAKE YUKI | European Patent Office | 2018

    Free access