東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Design of a mobile robotic platform ...

University of Waterloo (Canada).

FindBook

Google Book

Amazon

博客來

Design of a mobile robotic platform with variable footprint.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Design of a mobile robotic platform with variable footprint./
作者:	Wilhelm, Alexander N.
面頁冊數:	275 p.
附註:	Source: Masters Abstracts International, Volume: 46-04, page: 2293.
Contained By:	Masters Abstracts International46-04.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR35357
ISBN:	9780494353578

Design of a mobile robotic platform with variable footprint.
Wilhelm, Alexander N.

Design of a mobile robotic platform with variable footprint. - 275 p.

Source: Masters Abstracts International, Volume: 46-04, page: 2293.

Thesis (M.A.Sc.)--University of Waterloo (Canada), 2007.

This thesis presents an in-depth investigation to determine the most suitable mobile base design for a powerful and dynamic robotic manipulator. It details the design process of such a mobile platform for use in an indoor human environment that is to carry a two-arm upper-body humanoid manipulator system. Through systematic dynamics analysis, it was determined that a variable footprint holonomic wheeled mobile platform is the design of choice for such an application. Determining functional requirements and evaluating design options is performed for the platform's general configuration, geometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation of the problem of overcoming small steps. Other aspects such as processing, sensing and the power system are dealt with sufficiently to ensure the feasibility of the overall proposed design. The control of the platform is limited to that necessary to determine the appropriate mechanical components. Simulations are performed to investigate design problems and verify performance. A basic CAD model of the system is included for better design visualization.

ISBN: 9780494353578Subjects--Topical Terms:

783786
Engineering, Mechanical.

Design of a mobile robotic platform with variable footprint.
LDR:02275nam 2200265 a 45 001 852769
005 20100630
008 100630s2007 ||||||||||||||||| ||eng d
020 $a 9780494353578
035 $a (UMI)AAIMR35357
035 $a AAIMR35357
040 $a UMI $c UMI
100 1 $a Wilhelm, Alexander N. $3 1018786
245 1 0 $a Design of a mobile robotic platform with variable footprint.
300 $a 275 p.
500 $a Source: Masters Abstracts International, Volume: 46-04, page: 2293.
502 $a Thesis (M.A.Sc.)--University of Waterloo (Canada), 2007.
520 $a This thesis presents an in-depth investigation to determine the most suitable mobile base design for a powerful and dynamic robotic manipulator. It details the design process of such a mobile platform for use in an indoor human environment that is to carry a two-arm upper-body humanoid manipulator system. Through systematic dynamics analysis, it was determined that a variable footprint holonomic wheeled mobile platform is the design of choice for such an application. Determining functional requirements and evaluating design options is performed for the platform's general configuration, geometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation of the problem of overcoming small steps. Other aspects such as processing, sensing and the power system are dealt with sufficiently to ensure the feasibility of the overall proposed design. The control of the platform is limited to that necessary to determine the appropriate mechanical components. Simulations are performed to investigate design problems and verify performance. A basic CAD model of the system is included for better design visualization.
520 $a The research carried out in this thesis was performed in cooperation with the German Aerospace Center (Deutsches Zentrum fur Luft- und Raumfahrt)'s Robotics and Mechatronics Institute (DLR RM). The DLR RM is currently utilizing the findings of this research to finish the development of the platform with a target completion date of May 2008.
590 $a School code: 1141.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 $a University of Waterloo (Canada). $3 1017669
773 0 $t Masters Abstracts International $g 46-04.
790 $a 1141
791 $a M.A.Sc.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR35357