In this thesis, a suitable mechanical design of a di erential drive robot equipped with a force sensingturntable is presented for a logistical robot application in a hospital environment. The focus of thisthesis will be on the mechanical design of the robot, the force sensor, electronics for the force sensorand the development of a dynamic model. The dynamic model takes advantage of the payloadinformation from the force sensor in order to manoeuvre the robot optimally without it falling over.A complete method of measuring and locating a load on top of the table is successfully tested. Asimulation of the robot using the dynamic model and information about external forces from theforce sensor is created, applied and veri ed towards a set of tests with expected reactions fromthe model. The robot platform was built mechanically but not fully assembled with electronics,power sources, etc. The simulations and tests performed upon the robot platform indicates that itful ls the requirements set up in this paper. The dynamic model has not been tested on a physicalplatform but it behaves exactly like expected in the simulations hence tuning is the only expectedobstruction before it can be applied to the real-life platform. The force sensor works as intendedand can accurately measure payload mass by 0:2kg and lever lengths by 0:1m to the payload.The accuracy of the angle approximation relies on the magnitude of the radial torque signal, hencea threshold of the acceptable radial torque magnitude must be determined in order to in turnde ne the worst acceptable radial angle accuracy.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:mdh-61169 |
| Date | January 2020 |
| Creators | Andersson, Tim, Kihlberg, August |
| Publisher | Mälardalens universitet, Akademin för innovation, design och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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