In this thesis work, a mobile robot is designed to be used in search and rescue
operations to help the human rescue workers. The difficult physical conditions in the
ruins obstruct the movement. Therefore, it is aimed to design a search and rescue robot
which can move easily on rough terrain and climb over the obstacles. The designed
robot is made up of three modules. A connecting unit is designed that is situated
between each module. This connecting unit which is composed of two universal
and one revolute joint gives 5 DOF relative motions to the modules. On the other
hand, the wheel&rsquo / s continuous contact with the ground is important while moving on
rough terrain. In order to increase the adaptation of the robot to the rough terrain the
rear axle is connected to the body with a revolute joint. Besides, skid steering system
is used in the design of the robot to attain a compact and light solution which requires
few parts.
In the study, kinematic equations and dynamic equations of the robot are obtained
to be used by the control program. The dynamic equations are obtained by using
the Newton &ndash / Euler formulation. The forces, which are transmitted by the connecting
unit to the modules, and the reaction forces formed between the wheels and
the ground are derived by using these equations.
&ldquo / Follow-the-Leader approach&rdquo / is used as a control strategy to make the
modules move in formation and to reduce the tracking problem. In this approach, the
first module is the leader and the second and third modules follow it. A Matlab program
is written to control the robot by using the constructed mathematical model of
the robot. The reaction forces between the wheels and the ground are calculated
through using the Matlab program written. Moreover to make the simulations of the
robot for some cases, a model is constructed in ADAMS program.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/2/12606814/index.pdf |
| Date | 01 December 2005 |
| Creators | Kirmizigul, Ugur |
| Contributors | Ider, Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for METU campus |
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