This thesis presents an in-depth investigation to determine the most suitable mobile base design for apowerful and dynamic robotic manipulator. It details the design process of such a mobile platform foruse in an indoor human environment that is to carry a two-arm upper-body humanoid manipulatorsystem. Through systematic dynamics analysis, it was determined that a variable footprint holonomicwheeled mobile platform is the design of choice for such an application. Determining functionalrequirements and evaluating design options is performed for the platform’s general configuration,geometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation ofthe problem of overcoming small steps. Other aspects such as processing, sensing and the powersystem are dealt with sufficiently to ensure the feasibility of the overall proposed design. The controlof the platform is limited to that necessary to determine the appropriate mechanical components.Simulations are performed to investigate design problems and verify performance. A basic CADmodel of the system is included for better design visualization.The research carried out in this thesis was performed in cooperation with the German AerospaceCenter (Deutsches Zentrum für Luft- und Raumfahrt)’s Robotics and Mechatronics Institute (DLRRM). The DLR RM is currently utilizing the findings of this research to finish the development of theplatform with a target completion date of May 2008.
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Design of a Mobile Robotic Platform with Variable Footprint
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