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Design of a mobile robotic platform with variable footprint

Wilhelm, Alexander (2006) Design of a mobile robotic platform with variable footprint. Master's. DLR-Interner Bericht. DLR-IB 515-2007/33.

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Abstract

This thesis presents an in-depth investigation to determine the most suitable 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 sytem. 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. ...

Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Design of a mobile robotic platform with variable footprint
Authors:
AuthorsInstitution or Email of Authors
Wilhelm, AlexanderUniversity of Waterloo
Date:31 December 2006
Status:Published
Keywords:in-depth, platform, holonomic, locomotion, suspension
Institution:University of Waterloo
Department:Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jessica Laskey
Deposited On:10 Oct 2008
Last Modified:27 Apr 2009 14:27

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