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Konstruktion av en autonom, tvåhjulig robot, aktivt balanserad med vinkeljusterad rotor
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
Show others and affiliations
2012 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Design and implementation of an autonomous self-balancing two-wheeled robot using a pitchcontrolled rotor :   (English)
Abstract [sv]

Att balansera en tvåhjulig robot har traditionellt innefattat någon form av återkoppling till de

drivande hjulen. Den här rapporten ämnar redogöra för hur såväl design- som

konstruktionsarbetet av en aktiv självbalanserande robot på två hjul kan gå till. De idéer samt

lösningar presenterade här skiljer sig från konventionella tvåhjuliga robotar och använder sig av

luftströmmen från en rotor för att balanseras. Den färdiga prototypen utnyttjar kraften genererad

i en rotor, med kontrollerbar anfallsvinkel, för att balansera kroppen mellan två parallella hjul.

Rapporten är resultatet av ett fördjupningsarbete inom Mekatronik, som en del av en

Kandidatexamen vid Kungliga Tekniska Högskolan, Stockholm, Sverige. Roboten bedöms efter

sin prestation i en tävling mot liknande robotar på bland annat punkterna hastighet och

innovativa lösningar. I utvecklingen av roboten tas både de reglersystem som behövs upp samt

även fortsatta utvecklingsmöjligheter.

Abstract [en]

Actively balancing a two-wheeled vehicle has traditionally involved a feedback mechanism

applied to the driving wheels that compensates for disturbances. The concept presented in this

report differs from such solutions by utilizing the airstream from a pitch-controlled rotor to

counter the torque from the wheels and thus balance the robot body. This report is the result of a

Bachelor’s degree project in Mechatronics at The Royal Institute of Technology, Stockholm,

Sweden. It covers the construction of a two-wheeled, actively balanced robot, constructed to

compete in a racing tournament, judged by its speed and technical innovation. An advanced

feedback control system has been built, merging aerodynamics, electronics and traditional

vehicle design. This report contributes with new perspectives on vehicle design through the

integration of different engineering disciplines.

Place, publisher, year, edition, pages
2012.
Series
MMKB 2012:22 MDAB 025
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-102045OAI: oai:DiVA.org:kth-102045DiVA: diva2:550495
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-09-07 Created: 2012-09-07 Last updated: 2012-09-07Bibliographically approved

Open Access in DiVA

MMKB 2012:22 MDAB 025(25091 kB)731 downloads
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