Date of Award
Bachelor of Science
robot, prototype, torque, maneuverability, design
The purpose of this project was to design, fabricate, and test a maneuverable rolling robot. Although some other rolling robots were researched for this project, a novel approach was taken to design a unique, cheap robot that could turn and was fully enclosed by a rotating outer shell. The design and research phase of this project included the evaluation of several designs, the development of a mathematical model detailing forward motion of the robot, and the derivation of several design equations. Of the possible designs, an interior counterweight was chosen to provide a torque to the outside shell and move the robot forward, while a shifting internal mass was chosen to bank the robot either to the left or the right. The counterweight system applies a torque to the outer shell, and remains stationary during constant speed operation. To turn, a mass shifts to either the right or left side of the robot, changing the center of mass and causing the robot to enter a bank. Two preliminary prototypes were constructed as a feasibility check. One prototype tested forward motion, while the other tested banking. A final, fully functional prototype was fabricated and tested. It was found that the robot satisfied all goals of the project, and could move forward with a top speed of ~6 mph, as well as turn to either the left or right.
Carabis, David, "The Design of a Maneuverable Rolling Robot" (2013). Honors Theses and Student Projects. 641.