Designing and Constructing a Snake Robot With Active-Passive Joint and Wheels
The purpose of the thesis is to combine passive active wheels and joints on a snake robot. Mechanical concept is designed with twelve Dynamixel AX-12A servomotors to be able to do both ground and 3D locomotion with weight and friction as parameters. the general mathematical model of snake robot is used as the inverse kinematic of the robot. Arbotix-M is used to control the servomotors, which are attached in each module. the electrical system is kept simple with extra ultrasonic sensors. the software is designed with the implementation of the mathematical model on the snake robot specifically on this thesis. However, the mechanical system has a material failure, which cause the degradation of the snake robot behavior despite the proper mathematical calculation. the control system is only capable of slightly reducing the error generated by material failure. in conclusion, even though the snake robot is not fully cover the desired locomotion, the combination of Active-Passive Joint and Wheels is possible to be implemented together.
|B01580||(Rack Thesis)||Available but not for loan - Missing|
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