Angled roller mecanum wheel design that exhibits speed reduction
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2019
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| Online Access: | http://hdl.handle.net/1721.1/120266 |
| _version_ | 1811096002728296448 |
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| author | Abdalla, Ali Alsalih |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Abdalla, Ali Alsalih |
| author_sort | Abdalla, Ali Alsalih |
| collection | MIT |
| description | Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. |
| first_indexed | 2024-09-23T16:36:47Z |
| format | Thesis |
| id | mit-1721.1/120266 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T16:36:47Z |
| publishDate | 2019 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1202662019-04-12T22:43:53Z Angled roller mecanum wheel design that exhibits speed reduction Abdalla, Ali Alsalih H. Harry Asada. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. Cataloged from PDF version of thesis. Includes bibliographical references (page 35). This thesis presents the testing of speed reduction exhibited by custom angle mecanum wheels. A simple trigonometric model is put forth for the speed reduction, along with the kinematic analysis and simulation of a 3-wheeled-vehicle. Then a 150 mecanum wheel is designed and built, along with a testing fixture allowing it to freely move in the direction the roller pushes towards. This fixture also allowed the collection of the encoder data from the motor and the linear distance the wheel travels. Based on that, the detected speed reduction ratio was 4.9:1, as opposed to the modeled ratio of 3.9:1. This discrepancy is likely cause by the absence of slippage in our model, the jiggle in the wheel's motion, the compliancy of the surface it rotates on, as well as the uncertainty from the linear distance measurement. by Ali Alsalih Abdalla. S.B. 2019-02-05T16:02:24Z 2019-02-05T16:02:24Z 2018 2018 Thesis http://hdl.handle.net/1721.1/120266 1083220124 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 35 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Abdalla, Ali Alsalih Angled roller mecanum wheel design that exhibits speed reduction |
| title | Angled roller mecanum wheel design that exhibits speed reduction |
| title_full | Angled roller mecanum wheel design that exhibits speed reduction |
| title_fullStr | Angled roller mecanum wheel design that exhibits speed reduction |
| title_full_unstemmed | Angled roller mecanum wheel design that exhibits speed reduction |
| title_short | Angled roller mecanum wheel design that exhibits speed reduction |
| title_sort | angled roller mecanum wheel design that exhibits speed reduction |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/120266 |
| work_keys_str_mv | AT abdallaalialsalih angledrollermecanumwheeldesignthatexhibitsspeedreduction |