Crawler type robot

Chia , Wen Yung (2014) Crawler type robot. Project Report. UTeM. (Submitted)

Text CRAWLER TYPE ROBOT 24pages.pdf Download (605kB)

Abstract

Nowadays, the crawler type robots are widely used in rescuing and inspection missions. Therefore, crawler type mechanism is kept improving so it can be applied on various type of terrains with better performance. However, most of the existing crawler type robots available now are not moving consistently in one direction. In other words, it cannot move according to our desired direction properly. This project is undertaken with the aim to design and develop a crawler type robot which can pass through several types of terrain as well as to analyze and evaluate the performance of developed crawler type robot in term of its accuracy and repeatability. The scope of this project is focused on the performance test of robot’s accuracy and repeatability with respect to its speed on regular and irregular terrains. Moreover, the terrains involved in this project are focus only on flat surface, rough surface and stairs as well. This project presents the analysis of the developed crawler type robot’s performance by collecting the data during the experiment. The experiment conducted here consists of two research methodologies: lab test and field test. Lab test is conducted on flat surface and stairs while field test is conducted on rough surface. Both of the experiments measure the performance (accuracy and repeatability). Besides that, the robot was also been tested on its capability of climbing the stairs. However the study was limited only to the flat surface, rough surface and stairs. For recommendation, it should cover the study of suspension system on more irregular terrains with extreme conditions such as underwater, sand and mud. Moreover, it should also include different types of controller such as PI, PD and PID controller.

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