Development Of Open System And Application Mobile Platform For All Terrain Locomation

Ahmad Yusairi, Bani Hashim (2013) Development Of Open System And Application Mobile Platform For All Terrain Locomation. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Mobile robots with shrimp design are known to be ever changing when climbing or working under rugged terrains. Because of its sturdiness, robots with shrimp configuration will be able to perform complicated tasks. This work reproduced a mobile robot with shrimp design as proposed by Siegwart. A conventional shrimp robot has six wheels. Its structural complexity results in a perception that it is a hard-to-build robot. For straightforwardness, our shrimp rover is signified by a graph. The working volume for the platform is (678 by 350 by 525) cubic millimeter, with the exception of the front and rear forks' dimensions. It has a platform module attached to two forks, at front and rear, respectively. The forks have extra suspensions, whereas the platform relies on the suspension given by the wheels. Gyroscopic consequences on the rover are due to area surface conditions. The gyroscopic effects can be analyzed by computing the joint angles and change in heights all through rover maneuver. The products of the joint angles and change in the heights represent membership functions, which values are within certain limits. Therefore, the limits for the membership function values are the determinant circumstance for predicting the rover's stability if it will ever flip through.

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