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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 48668 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Zohoor, Hassan; Sohrabpour, Saeed
- Abstract:
- Gyrover is a kind of robot which can move with only one single wheel. In this robot, all the mechanical and electronics’ systems are placed in the wheel of robot. So the wheel of robot is the boundary which separates the inner equipment of gyrover with outside environment. In this robot, only one wheel is used for moving, so the amount of friction of movement in gyrover robot is less in comparison with two and more wheeled vehicles. Because of this gyrover can move to more domains. Gyrover robot can move both on land and water. Gyrover robot is not intrinsically stable which means that it cannot stand on ground. So for stability of gyrover another dynamic system should be used. The best mechanism for this purpose is the mechanism of flywheel. In this mechanism a rotating disk called flywheel rotates with high angular velocity. This mechanism causes stability and steering of gyrover. This mechanism has two advantages. The first one is that this mechanism causes both stability and steering of gyrover. The other advantage is that this mechanism is robust to outer disturbances. Also the mechanism of flywheel has two disadvantages. The disadvantages are the high consumption of energy and the high weight of this mechanism. In this project, design of gyrover is done according to real equipment in market. Firstly, gyrover robot is designed for obtaining the maximum performance of it. Secondly the dynamic model of gyrover is extracted and after that the model is simulated in matlab software and the simulation in matlab is compared with the simulation of simdesigner software and real experiments. Thirdly, after confiming the dynamic model, designing a proper controller for gyrover. Because of nonlinear dynamic of gyrover the proper controller is fuzzy and fuzzy-pade’ controller. After designing the two kind of controllers the dynamic of robot with the controllers is simulated in matlab software
- Keywords:
- Amphibious Robot ; Fuzzy Controller ; Simulation ; Stability ; Flywheel ; Fuzzy-Pade Method ; Gyrover
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