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Design of a mobile robotic platform ...

University of Waterloo (Canada).

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Design of a mobile robotic platform with variable footprint.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Design of a mobile robotic platform with variable footprint./
Author:	Wilhelm, Alexander N.
Description:	275 p.
Notes:	Source: Masters Abstracts International, Volume: 46-04, page: 2293.
Contained By:	Masters Abstracts International46-04.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR35357
ISBN:	9780494353578

Design of a mobile robotic platform with variable footprint.
Wilhelm, Alexander N.

Design of a mobile robotic platform with variable footprint. - 275 p.

Source: Masters Abstracts International, Volume: 46-04, page: 2293.

Thesis (M.A.Sc.)--University of Waterloo (Canada), 2007.

This thesis presents an in-depth investigation to determine the most suitable mobile base design for a powerful and dynamic robotic manipulator. It details the design process of such a mobile platform for use in an indoor human environment that is to carry a two-arm upper-body humanoid manipulator system. Through systematic dynamics analysis, it was determined that a variable footprint holonomic wheeled mobile platform is the design of choice for such an application. Determining functional requirements and evaluating design options is performed for the platform's general configuration, geometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation of the problem of overcoming small steps. Other aspects such as processing, sensing and the power system are dealt with sufficiently to ensure the feasibility of the overall proposed design. The control of the platform is limited to that necessary to determine the appropriate mechanical components. Simulations are performed to investigate design problems and verify performance. A basic CAD model of the system is included for better design visualization.

ISBN: 9780494353578Subjects--Topical Terms:

783786
Engineering, Mechanical.

Design of a mobile robotic platform with variable footprint.
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020 $a 9780494353578
035 $a (UMI)AAIMR35357
035 $a AAIMR35357
040 $a UMI $c UMI
100 1 $a Wilhelm, Alexander N. $3 1018786
245 1 0 $a Design of a mobile robotic platform with variable footprint.
300 $a 275 p.
500 $a Source: Masters Abstracts International, Volume: 46-04, page: 2293.
502 $a Thesis (M.A.Sc.)--University of Waterloo (Canada), 2007.
520 $a This thesis presents an in-depth investigation to determine the most suitable mobile base design for a powerful and dynamic robotic manipulator. It details the design process of such a mobile platform for use in an indoor human environment that is to carry a two-arm upper-body humanoid manipulator system. Through systematic dynamics analysis, it was determined that a variable footprint holonomic wheeled mobile platform is the design of choice for such an application. Determining functional requirements and evaluating design options is performed for the platform's general configuration, geometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation of the problem of overcoming small steps. Other aspects such as processing, sensing and the power system are dealt with sufficiently to ensure the feasibility of the overall proposed design. The control of the platform is limited to that necessary to determine the appropriate mechanical components. Simulations are performed to investigate design problems and verify performance. A basic CAD model of the system is included for better design visualization.
520 $a The research carried out in this thesis was performed in cooperation with the German Aerospace Center (Deutsches Zentrum fur Luft- und Raumfahrt)'s Robotics and Mechatronics Institute (DLR RM). The DLR RM is currently utilizing the findings of this research to finish the development of the platform with a target completion date of May 2008.
590 $a School code: 1141.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 $a University of Waterloo (Canada). $3 1017669
773 0 $t Masters Abstracts International $g 46-04.
790 $a 1141
791 $a M.A.Sc.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR35357