Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

International Journal on Smart Material and Mechatronics

卷:1

Rafiuddin Syam¹  Wahyu H. Piarah²  Paisal Paisal³ 

[1] Mechanical Engineering DepartmentEngineering Faculty, Hasanuddin UniversityJl. P. Kemerdekaan Km 10 Makassar;

[2] Mechanical Engineering DepartmentEngineering Faculty, Hasanuddin University;

[3] Mechanical Engineering DepartmentState Polytechnic of AmbonJln. Ir. M. Putuhena Wailela Rumahtiga Ambon;

关键词: WMR;    tri-star;    kinematics;    dynamics model;   

DOI  :  

来源: DOAJ

【 摘 要 】

This study aims to design, and analyze a mobile
robot that can handle some of the obstacles, they are uneven
surfaces, slopes, can also climb stairs. WMR in this study is Tristar
wheel that is containing three wheels for each set. On
average surface only two wheels in contact with the surface, if
there is an uneven surface or obstacle then the third wheel will
rotate with the rotation center of the wheel in contact with the
leading obstacle then only one wheel in contact with the surface.
This study uses the C language program. Furthermore, the
minimum thrust to be generated torque of the motor and
transmission is 9.56 kg. The results obtained by calculation and
analysis of DC motors used must have a torque greater than
14.67 kg.cm. Minimum thrust to be generated motor torque and
the transmission is 9.56 kg. The experimental results give good
results for robot to moving forward, backward, turn left, turn
right and climbing the stairs

【 授权许可】

Unknown