Design of a triple singularity drive for mobile wheeled robots
Name
898188106-MIT.pdf
Description
Full printable version
Size
3.72 MB
Format
Adobe PDF
Checksum (MD5)
c84d679df41c34cfd46b72faa03de3a5
Author(s)
Carothers, Jeffrey (Jeffrey W.)
Advisor(s)
Harry Asada.
Date Issued
2014
Publisher
Massachusetts Institute of Technology
Abstract
This thesis encompasses the development of a mobile robotic platform using three singularity drive modules. The process begins with a review of other omnidirectional platforms, comparing and contrasting their strengths and weaknesses. It continues with a discussion of the mechanical and electrical design of a robot prototype, then into kinematic modeling of the system. Both the inverse and forward kinematics are derived and validated through a path following experiment using an open loop controller. For this experiment, the robot was given a 1 meter square path as the desired trajectory, and coded to follow this path at 1 m/s speed. With the open loop controller, the robot was able to track this desired trajectory with a maximum of 16% error in position. An analysis of the results was performed, including discussion on possible sources of error in the system, and areas for future work are explored.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 43).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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