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035 _a.b12049633
099 9 _aAIT Thesis no.ISE-06-32
100 0 _aWanayuth Sanngoen
245 1 0 _aAdaptive geometry track design and implementation for an all terrain mobile robot
260 _aPathum Thani, Thailand :
_bAsian Institute of Technology,
_c2006
300 _a73 p. :
_bill.
490 1 _aThesis ;
_vno. ISE-06-32
500 _aA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology
502 _aThesis (M.Eng.) - Asian Institute of Technology, 2006
520 _aA limitation of an autonomous mobile robot for moving in ragged terrain exists. In some situation, it can not move through target trajectory because the type of driving system is not appropriate. To reduce this boundary, the new inventive concept of mechanism is presented in this thesis. The mechanism is design in triangle shaped tracking wheel in which inner construction can adapt depended on that terrain, thus this kind of wheel can move through all terrain. Four ball screws, which are the most important equipment in this study, are extruded and contracted in order to make tracking belt tight when the robot climbing up and down the stair. In tracking wheel system, 12 DC motors are used. 6 DC motors are utilized in the part of angular adjustment, 4 DC motors are applied for extrusion and contraction and other 2 DC motors are used for driving tracking wheel. Each DC motor is controlled by a microcontroller, AT89C2051 and a personal computer is as graphic user interfaces that can communication with microcontroller via serial communication RS485
650 0 _aMobile robots
700 1 _aAfzulpurkar, Nitin V.,
_eChairperson
700 0 _aManukid Parnichkun,
_eExamination Committee
700 1 _aBohez, Erik L.J.,
_eExamination Committee
710 2 _aSripatum University,
_eScholarship donor
810 2 _aAsian Institute of Technology.
_tThesis ;
_vno. ISE-06-32
856 _3Full-Text
_uhttp://203.159.5.9/ait-thesis/detail.php?q=B10353
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