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Design and Construction of Two-Wheeled Mobile Robot Platform with the Ability to Connect to other Robots with Two Rotational Degrees of Freedom

Golmirzaei, Ali | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45509 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. Due to the advantages of multi-agent systems, research in this area and the use of these systems in industry are increasingly growing. Applying these robots, various complex tasks can be done faster, safer and with better results. In our country, many different algorithms have been proposed and simulated, but due to the lack of a real environment for implementation, their actual performance has not been assessed. This project aims to create a platform for research and development of this field. This goal is achieved by performing the first phase of implementation, namely the design and construction of the robot platform. In the first step, qualitative and quantitative characteristics of the robot platform such as the number of members have been specified for greater compatibility with several control algorithms. Then the conceptual design of various parts of platform has been investigated. Mechanism of propulsion, power supply, recharging, actuators, controllers and the body are such of these concepts. After determining the main concepts in the performance of the robot platform, the detailed design of individual parts including mechanics, electronics and software have been carried out. In mechanics, propulsion mechanisms, platform connectors and body; in electronics, actuators, drivers, battery, cutoff switch, converter, microcontroller and sensor system; and in software, controllers are designed. Finally, conclusion and how far does the platform work to fit the goals are discussed
  9. Keywords:
  10. Multiagent System ; Self Assembly ; Robotic Swarm ; Mobile Robot ; Robot Platform

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