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Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy = = Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy =/
其他題名:	Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi.
作者:	Demir, Didem Fatma.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	113 p.
附註:	Source: Masters Abstracts International, Volume: 83-10.
Contained By:	Masters Abstracts International83-10.
標題:	Robots. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29046104
ISBN:	9798209959342

Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy = = Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi.
Demir, Didem Fatma.

Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy =Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 113 p.

Source: Masters Abstracts International, Volume: 83-10.

Thesis (M.Sc.)--Bilkent Universitesi (Turkey), 2021.

This item must not be sold to any third party vendors.

FAWSCY: Foldable Adjustable Wheeled Stringy Clumsy Robot is a foldable, collision resilient, adjustable wheeled robot which can run through diﬀerent ter-rains and inclined surfaces, to inspect areas which are unavailable to humans due to dimensional limitations or hazardousness level; to attend search and rescue missions to cover more area in a shorter duration and to be a part of somatic activities with elders and kids. Hence, it is desired to be non-harmful to itself and its environment in case of any collisions or falls, and persistent on its run under various conditions and terrains as any insect or lizard can.FAWSCY is an incremental work that till attaining its ﬁnal version, several legs and wheels; and electronic components and their combinations are investi-gated. First, c-legs are tested due to its advantages on rough terrains, yet they lack sensor implementation by its constant oscillatory movement. Then ninja stars are tested the robot yet they are so rigid that they sunder from the body in presence of a collision or undesired tracking. Afterwards, the bellow design is modiﬁed to be enforced as a wheel and it is the most promising wheel conﬁgu-ration since it can damp all longitudinal, lateral and vertical forces during the impact of a collision and fall. Also, it has appreciable rough terrain performance. However, as well as being soft it is also quite strong that it cannot be controlled for diﬀerent length conﬁgurations for a miniature untethered scale. Therefore, it is not applicable for FAWSCY. On its ﬁnal adjustable wheel, a novel wicker modular wheel design which exhibits similar behaviour with the bellow design, and its adjusting mechanism are proposed. On the other hand, Raspberry Pi is chosen to be the main processor, and by experiments and investigation through diﬀerent motors, sensors and control strategies, a two part single board design is ﬁnalized. The body of FAWSCY is also kirigami-inspired and formed by foldable sheets to cover and maintain integrity of its parts and components.After the design is completed, its performance and capabilities are assessed. First, its indoor run performance, wheel adjustment mechanism, collision resilient properties, obstacle scaling and response to inclination are investigated. The robot is assessed to be suitable for indoor environments, stairs and inclinations without getting disintegrated and harming other living subjects. Then, rough terrain experiments are conducted which resulted in success on grass, gravel and soil terrains with diverse wheel length conﬁgurations.

ISBN: 9798209959342Subjects--Topical Terms:

529507
Robots.

Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy = = Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi.
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100 1 $a Demir, Didem Fatma. $3 3690202
245 1 0 $a Design, Manufacturing, and Rough Terrain Analysis of a Collision Resilient Foldable, Adjustable Wheeled Miniature Robot: Fawscy = $b Carpisma Direncli, Ayarlanabilir Tekerli Minyatur Robot Fawscy'nin Tasarimi, Uretimi ve Engebeli Arazi Analizi.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 113 p.
500 $a Source: Masters Abstracts International, Volume: 83-10.
500 $a Advisor: Ozcan, Onur.
502 $a Thesis (M.Sc.)--Bilkent Universitesi (Turkey), 2021.
506 $a This item must not be sold to any third party vendors.
520 $a FAWSCY: Foldable Adjustable Wheeled Stringy Clumsy Robot is a foldable, collision resilient, adjustable wheeled robot which can run through diﬀerent ter-rains and inclined surfaces, to inspect areas which are unavailable to humans due to dimensional limitations or hazardousness level; to attend search and rescue missions to cover more area in a shorter duration and to be a part of somatic activities with elders and kids. Hence, it is desired to be non-harmful to itself and its environment in case of any collisions or falls, and persistent on its run under various conditions and terrains as any insect or lizard can.FAWSCY is an incremental work that till attaining its ﬁnal version, several legs and wheels; and electronic components and their combinations are investi-gated. First, c-legs are tested due to its advantages on rough terrains, yet they lack sensor implementation by its constant oscillatory movement. Then ninja stars are tested the robot yet they are so rigid that they sunder from the body in presence of a collision or undesired tracking. Afterwards, the bellow design is modiﬁed to be enforced as a wheel and it is the most promising wheel conﬁgu-ration since it can damp all longitudinal, lateral and vertical forces during the impact of a collision and fall. Also, it has appreciable rough terrain performance. However, as well as being soft it is also quite strong that it cannot be controlled for diﬀerent length conﬁgurations for a miniature untethered scale. Therefore, it is not applicable for FAWSCY. On its ﬁnal adjustable wheel, a novel wicker modular wheel design which exhibits similar behaviour with the bellow design, and its adjusting mechanism are proposed. On the other hand, Raspberry Pi is chosen to be the main processor, and by experiments and investigation through diﬀerent motors, sensors and control strategies, a two part single board design is ﬁnalized. The body of FAWSCY is also kirigami-inspired and formed by foldable sheets to cover and maintain integrity of its parts and components.After the design is completed, its performance and capabilities are assessed. First, its indoor run performance, wheel adjustment mechanism, collision resilient properties, obstacle scaling and response to inclination are investigated. The robot is assessed to be suitable for indoor environments, stairs and inclinations without getting disintegrated and harming other living subjects. Then, rough terrain experiments are conducted which resulted in success on grass, gravel and soil terrains with diverse wheel length conﬁgurations.
520 $a FAWSCY, katlanabilir, ayarlanabilir tekerli ipli ve sakar bir robot olmakla bir- likte, carpismaya direncli, ve farkli engebeli ve egimli yuzeylerde hareket ede- bilmektedir. Boylece insan erisiminin zor oldugu ve tehlikeli arazilerin incelen- mesinde; daha genis bir alani daha kisa surede taramaya yardimci olarak arama ve kurtarma calismalarinda veya yasli ve cocuklarim katilim sagladigi somatik etkinliklere yardimci olarak katilabilmektedir. Dolayisiyla, FAWSCY'nin her- hangi bir bocek ya da kertenkele gibi, kendine ve baskalarina zarar vermeden hareket edebilmesi, carpisabilmesi, dusebilmesi, farkli yuzeylerde ve kosullarda calismaya devam edebilmesi arzulanmistir.Son versiyonuna gelene kadar cesitli tasarim asamalarindan gecen FAWSCY icin ilk once c-bacaklar, farkli yuzeylerde hareket edebilme kabiliyeleri goz onune alinarak duzenlenmis ve kullanilmistir. Ancak, c-bacak ile hareket eden robo- tun govdesine surekli olarak sagladigi osilasyon, uzerine eklenen herhangi bir sensorun calismasimi zorlastirdigi icin vazgecilmistir. 2. kademede ise ninja yildizlari tasarlanip robota uygulanmistir. Yuvarlak yapisiyla avantaj saglarken; sertligi, yildizin herhangi bir carpisma ya da istenmeyen yonde maruz kaldigi kuvvet somucunda robottan ayrilmasina sebep olmakta, boylelikle kullamimini imkansizlastirmaktadir. O sebeple, yeni bir cozum bulunmus ve koruk tasarimi bir teker olarak uyarlanmistir. Bu tasarim, carpisma ve darbe esnasinda uzerine gelen, boyuna, enine ve duseyine kuvvetleri sonumleyebilmekte boylece FAWSCY icin istenen ozellikleri karsilayabilmek olmasina ragmen guclu yapisi teker boyu- nun ayarlanmasina minyatur olculerde izin vermedigi icin vazgecilmek zorunda kalinmistir. FAWSCY'nin son tekeri ise korgk dizayni ile benzer ozellikler gosterebilecek, bununla birlikte daha kolay uzunluk ayari yapilabilecek, hasir islemelerinden esinlenerek yenilikci bir sekilde tasarlanmis olan tekerdir. Diger yandan, FAWSCY'nin elekronik parcalari ve tasarimi da asamali gerceklesmis olup, istenen performansi saglayan konfigurasyon elde edilene kadar farkli mo- tor, sensor ve kontrol stratejileri uygulanmistir. Elde edilen devre ise 2 farkli alt sistemden olusan tek bir devre kartidir.Tasarimi ve uretimi tamamlanan robotun, ayrica performans ve yetkinlikleri de test edilmistir. Oncelikle ic mekanlardaki calismasi degerlendirilen robot, hareker performasi, carpisma direnci, merdiven inebilme, engel asabilme, egimli yuzey tirmanabilme ve teker uzunlugunmin degisebilmesi acisindan test edilmis ve yetkinlikle testleri tamamlamistir. Bununla birlikte engebeli farkli arazilerde de calismasi saglanan FAWSCY, taslik, cimlik ve kumluk arazilerde farkli boylardaki tekerleriyle basari gostererek amacina ulasmistir.
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