Author: Zhang, Yuzhou
Title: Analysis and design of a field robot in tough working environments
Advisors: Jing, Xingjian (ME)
Degree: M.Sc.
Year: 2021
Subject: Robotics
Robots -- Design and construction
Hong Kong Polytechnic University -- Dissertations
Department: Department of Mechanical Engineering
Pages: xi, 83 pages : color illustrations
Language: English
Abstract: For many years, the amphibious boats have developed rapidly as an important machine which can be used in many fields. However, the boats which can work in some tough environments have not yet developed enough to meet the requirements of the users. In this dissertation, a boat-type robot which is mainly used to work in wetland is shown. The robot is driven by two wheels which have novel structure. The designed wheel is composed of six hollow spheres and some connecting rods and generates buoyancy mainly by the spheres of it. The steering assistance system, damping structure are both added to the design to make the robot have a better performance. The 3D model of the robot is built in Solidworks environment. The kinematic model of the robot is established based on the boat motion theory and the dynamic model of it is established using Lagrange dynamic approach. The formulas of the new wheel have also been derived and are used to calculate the driving force and other parameters in Matlab. Based on the kinematic model, dynamic model and the driving force generated by wheels, the simulation of the robot motion is conducted in Adams. The velocity, acceleration and other parameters are obtained. The static analysis is conducted in Static Structural Module of Ansys. The structure of the robot is verified to meet the strength requirements. The hydrodynamic analysis is also completed in Ansys using Fluent Module and the hydrodynamic properties of the robot when it is in different motion states are obtained.
Rights: All rights reserved
Access: restricted access

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