Mechanical design and development of a 4 wheels skid steering mobile platform system

Wong, How Jie (2017) Mechanical design and development of a 4 wheels skid steering mobile platform system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In this project, a 4 wheels skid steering mobile robot is developed based on SolidWorks design. Initially, the robot model was constructed in SolidWorks, followed by exporting to ADAMS software to carry out simulation. There are three simulations including motion, torque and speed which applied at two different environments. Eventually, the results obtained were analysed and torque parameter was evaluated. For the design result, the dimension for actual product is 50centimetre x 35centimetre x 20centimetre which its similarity is 90% compared to SolidWorks design. For simulation result, mobile robot was not able to move straight without controller. The torque result shows that minimum input torque of motor is 1.0Nm to perform rotational motion. The speed result shows that the actual speed always lesser than desired speed due to the effect of friction force and gravitational force. Fabrication was the last stage of overall project which involved engineering processes for developing mechanical structure of mobile robot. The processes are drilling, milling, cutting and turning. The detailed information related to mechanical design and process of development was included in content of report. At the end of this project, the mechanical design and development of four wheels skid steering mobile robot platform system had been completed successfully and this project can be continued with further research.

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