Design and Realization of a Tiltable 2-wheel Mobile Robot with Obstacle Avoidance Capability

• Main Authors: Chih-Chung Cheng, 鄭智中
• Other Authors: Pei-Chun Lin
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/91562673772427156253

碩士 === 臺灣大學 === 機械工程學研究所 === 98 === We report on the design of a tiltable 2-wheel mobile robot. Its wheels are driven independently. Equipped with tiltable mechanism, the robot is capable of changing its center of gravity to achieve high dexterity and stability under high speed. In the mechanism design, we start from the actuator, in other word, motor as a beginning to assure the platform can achieve the speed of 20km/hr as light electric vehicle. We also design the transmission, tilt and rim mechanism. The main platform structure is composed of aluminum press thermoform, with the advantages of easy assembly and integration with other mechatronic systems. The platform also has the intelligent features which can be applied to real light electric vehicle. It is equipped with laser, infrared ray, ultrasonic and sonar range finder. At first, we conduct various static and dynamic experiments to understand the sensor performance under different environments or mutual interference. Secondly, we step forward to establish the peripheral circuits and HMI ( Human Machine Interface ) in our embedded system. Based on the result of sensor tests, we realize intelligent function such as mapping and obstacle avoidance by the sensor feedback. We have developed complete mechanism and mechatronic systems, and preliminary experiments results are also presented.