文档介绍：FACULTEIT Ingenieurswetenschappen
VAKGROEP Werktuigkunde
Autonomous Mobile Robot
Mechanical Design
Eindwerk ingediend tot het behalen van de academische graad
burgerlijk werktuigkundig-elektrotechnisch ingenieur
Kristof Goris
Academiejaar 2004-2005
Promotor: Prof. Dr. Ir. Dirk Lefeber
Co-Promotor: Prof. Dr. Ir. Hichem Sahli
Autonomous Mobile Robot: Mechanical Design
Acknowledgements
Many people have helped me along the way. Their guidance, good humour, advice
and inspiration sustained me trough the months of work. First of all, I’d like to thank
all of them.
Furthermore, I thank Mark and Guillermo for a nice cooperation during this project.
I wish to thank my promotors Prof. Dr. Ir. Dirk Lefeber and Prof. Dr. Ir. Hichem
Sahli for proposing this challenging project. And for their confidence in my abilities.
Many thanks go out to my supervisors, the support of Ir. Ronald Van Ham, Ir. Bram
ht, Ir. Thomas Geerinck, and Ir. Geert De Cubber kept me on the right
track during the year.
Many thanks go out to Jean-Paul Schepens, André Plasschaert, Gabriël Van den
Nest, Daniel Debondt, Eduard Schots and Thierry Lenoir for their technical support,
great work, and patience with me.
Furthermore, I wish to thank the WERK department for placing its infrastructure and
material at my disposal.
Finally I’d like to thank family and friends for being so supportive. I wouldn’t have
managed without them.
II
Autonomous Mobile Robot: Mechanical Design
Executive Summaries
Autonomous Mobile Robot: Mechanical Design
The design of autonomous mobile robots capable of intelligent motion and action
without requiring either a guide to follow or a teleoperator control involves the
integration of many different bodies of knowledge. This makes mobile robotics a
challenge worthwhile. To solve otion problems the mobile roboticist must
understand mechanisms and kinematics, dynamics and control theory. To c