Omnibot. Electronic development and commissioning of an omnidirectional robot with direct driven active castor wheels

Details zur Arbeit

Titel der Arbeit: Omnibot. Electronic development and commissioning of an omnidirectional robot with direct driven active castor wheels
Art der Arbeit: Masterarbeit
Studenten: Elizabeth Marquez
Fachbereich: Robotik
Institut/Labor: EMS
Referent: Einar Nielsen
Industriepartner: -
Abgabedatum: 31.01.2020

Zusammenfassung

This work presents the commissioning and electrical design process of an Omnidirectional moving robot, which consist of three active castor wheels. Needless to say, every robot construction has its own challenges, the “OmniBot” as one calls the omnidirectional robot, presented its unique challenges which are laid out throughout this document. Owing to the fact that active castor wheels are to be used, an implementation of a slip ring was necessary to make a connection between the wheel module’s inner enclosure which is completely isolated, to the robot’s external components. The implementation of a slip ring meant the design of three printed circuit boards per module, which have the function of connecting all internal components to the external robot’s components. Furthermore, an electrical installation system network design was also completed in order to electrify and connect all three-wheel modules and the robot’s external elements. The work done completed during this master thesis serves as a basis for further software development for the robot’s system.

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