Type of Document	Thesis
Author	Chabukswar, Deviprasad Mohiniraj
Author's Email Address	amit_chabukswar@hotmail.com
URN	etd-01062004-230124
Title	Modeling Simulation and Experimental Validation of 'ATRV-Jr.'
Degree	Master of Science
Department	Mechanical Engineering, Department of
Advisory Committee	Advisor Name Title Patrick Hollis Committee Chair Carl Moore Committee Member Rodney Roberts Committee Member
Keywords	ATRV-Jr. Moment of Inertia Simulation Modeling
Date of Defense	2003-12-12
Availability	unrestricted
Abstract A mobile robot has an ability to navigate and perform tasks in unstructured environments like battlefields, farms, earth moving sites, waste clean up sites and exploration. All mobile robots use locomotion that generates traction, negotiates terrain and carries payload. Well-designed robotic locomotion also stabilizes a robot’s frame, smoothes the motion of sensors and accommodates the deployment and manipulation of work tools. Because locomotion is the physical interface between a robot and its environment, it is the means by which it reacts to gravitational, inertial and work loads. Locomotion is the literal basis of a mobile robot’s performance. While developing a mobile robot or testing it for different conditions, it is important that one models the actual vehicle and simulates test conditions similar to the actual ones. This not only gives good information about how the actual vehicle is going to behave but it also avoids unnecessary testing. This also helps in predicting robot performance in extreme conditions. In the case of the ATRV-Jr., which is an experimental test robot, it is necessary to develop a software model and test setup along with the actual experimental setup. Once the model is verified, software testing will be very convenient to conduct different tests in various conditions such as motion on an inclined plane or behavior on different terrains etc. This thesis develops a model of the experimental mobile robot ATRV-Jr. in Pro Engineer and ADAMS and validates the model with simulation and actual experiments on the ATRV- Jr.
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