Development of an automatic self-balance platform for stair-climbing mobile robot
Robot has been widely used in various fields of human lives nowadays to reduce human labor and help perform dangerous constructions. Climbing robots are one of the most popular types used for industrialized tasks involving safety risks to humans such as construction sites. The project is to design a...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/153702 |
| _version_ | 1811687628202835968 |
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| author | Fan, Ruiming |
| author2 | Chen I-Ming |
| author_facet | Chen I-Ming Fan, Ruiming |
| author_sort | Fan, Ruiming |
| collection | NTU |
| description | Robot has been widely used in various fields of human lives nowadays to reduce human labor and help perform dangerous constructions. Climbing robots are one of the most popular types used for industrialized tasks involving safety risks to humans such as construction sites. The project is to design a convenient stair climbing robot with a self-balancing platform mounted on it to help the workers in construction sites to carry the heavy things up and downstairs without complicated remoting. -
The author’s main role in the project is to design a self-balanced platform to help the robot carry the heavy stuff when climbing stairs at the same time. To complete this task, force analysis or the autonomous vehicle while climbing and PID control theory will be needed.
This report begins with an introduction to the background and objective of the project. Then a detailed process of research and experiment will be presented. Additionally, some contribution in other area to the whole project will be introduced. Finally, limitations and recommendations for future work will be discussed.
KEYWORDS: Stair climbing, Self-balancing, PID control, Rotation matrix, Force analysis |
| first_indexed | 2024-10-01T05:19:20Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/153702 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:19:20Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1537022021-12-10T05:04:33Z Development of an automatic self-balance platform for stair-climbing mobile robot Fan, Ruiming Chen I-Ming School of Mechanical and Aerospace Engineering Robotics Research Centre MICHEN@ntu.edu.sg Engineering::Mechanical engineering::Robots Robot has been widely used in various fields of human lives nowadays to reduce human labor and help perform dangerous constructions. Climbing robots are one of the most popular types used for industrialized tasks involving safety risks to humans such as construction sites. The project is to design a convenient stair climbing robot with a self-balancing platform mounted on it to help the workers in construction sites to carry the heavy things up and downstairs without complicated remoting. - The author’s main role in the project is to design a self-balanced platform to help the robot carry the heavy stuff when climbing stairs at the same time. To complete this task, force analysis or the autonomous vehicle while climbing and PID control theory will be needed. This report begins with an introduction to the background and objective of the project. Then a detailed process of research and experiment will be presented. Additionally, some contribution in other area to the whole project will be introduced. Finally, limitations and recommendations for future work will be discussed. KEYWORDS: Stair climbing, Self-balancing, PID control, Rotation matrix, Force analysis Bachelor of Engineering (Mechanical Engineering) 2021-12-10T05:04:33Z 2021-12-10T05:04:33Z 2021 Final Year Project (FYP) Fan, R. (2021). Development of an automatic self-balance platform for stair-climbing mobile robot. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/153702 https://hdl.handle.net/10356/153702 en A052 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Robots Fan, Ruiming Development of an automatic self-balance platform for stair-climbing mobile robot |
| title | Development of an automatic self-balance platform for stair-climbing mobile robot |
| title_full | Development of an automatic self-balance platform for stair-climbing mobile robot |
| title_fullStr | Development of an automatic self-balance platform for stair-climbing mobile robot |
| title_full_unstemmed | Development of an automatic self-balance platform for stair-climbing mobile robot |
| title_short | Development of an automatic self-balance platform for stair-climbing mobile robot |
| title_sort | development of an automatic self balance platform for stair climbing mobile robot |
| topic | Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/153702 |
| work_keys_str_mv | AT fanruiming developmentofanautomaticselfbalanceplatformforstairclimbingmobilerobot |