Integration and design improvement of SGU transformer robot (t-bot) body and arm subsytem
The purposes of this thesis project are to integrate the body and arm subsystem of the SGU's Transformer Robot (T-Bot) and to improve its design. However, the designrnimprovement was limited for the transformation process of the T-Bot. Since there was no report published by previous SGU's T-Bot developers, conducting a series of tests was used as the methodology to carry out this thesis project. Through the tests, it was found that the original SGU's T-Bot had several mechanical design errors, which mainly on the arm subsystem. A PID position control was also developed in this thesis with the purpose to lock the arm for the T-Bot's 4 wheel maneuvering process. The test of the PID position control was conducted by using a scaled model of the T-Bot. The results of the tests show that PID position control is suitable for locking the T-Bot's arm application.
B01344 | (wh) | Available |
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