| 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 |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 5944.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 4.44 MB | Adobe PDF | View/Open |
Copyright Undertaking
As a bona fide Library user, I declare that:
- I will abide by the rules and legal ordinances governing copyright regarding the use of the Database.
- I will use the Database for the purpose of my research or private study only and not for circulation or further reproduction or any other purpose.
- I agree to indemnify and hold the University harmless from and against any loss, damage, cost, liability or expenses arising from copyright infringement or unauthorized usage.
By downloading any item(s) listed above, you acknowledge that you have read and understood the copyright undertaking as stated above, and agree to be bound by all of its terms.
Please use this identifier to cite or link to this item:
https://theses.lib.polyu.edu.hk/handle/200/11470