Design of a mobile robotic platform with variable footprint

Abstract

This thesis presents an in-depth investigation to determine the most suitable mobile base design for a
\npowerful and dynamic robotic manipulator. It details the design process of such a mobile platform for
\nuse in an indoor human environment that is to carry a two-arm upper-body humanoid manipulator
\nsystem. Through systematic dynamics analysis, it was determined that a variable footprint holonomic
\nwheeled mobile platform is the design of choice for such an application. Determining functional
\nrequirements and evaluating design options is performed for the platform’s general configuration,
\ngeometry, locomotion system, suspension, and propulsion, with a particularly in-depth evaluation of
\nthe problem of overcoming small steps. Other aspects such as processing, sensing and the power
\nsystem are dealt with sufficiently to ensure the feasibility of the overall proposed design. The control
\nof the platform is limited to that necessary to determine the appropriate mechanical components.
\nSimulations are performed to investigate design problems and verify performance. A basic CAD
\nmodel of the system is included for better design visualization.
\nThe research carried out in this thesis was performed in cooperation with the German Aerospace
\nCenter (Deutsches Zentrum für Luft- und Raumfahrt)’s Robotics and Mechatronics Institute (DLR
\nRM). The DLR RM is currently utilizing the findings of this research to finish the development of the
\nplatform with a target completion date of May 2008.