Dynamic modeling of two identical coupled spherical robots

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dc.contributor.advisor	Eray, Turgay
dc.contributor.author	Sağsöz, İsmail Hakkı
dc.date.accessioned	2021-11-26T08:16:14Z
dc.date.available	2021-11-26T08:16:14Z
dc.date.issued	2021-11-04
dc.date.submitted	2021-08-28
dc.identifier.citation	Sağsöz, İ.H. (2021) Dynamic modeling of two identical coupled spherical robots (yayınlanmamış yüksek lisans tezi) Aydın Adnan Menderes Üniversitesi Fen Bilimleri Enstitüsü, Aydın	tr_TR
dc.identifier.uri	http://hdl.handle.net/11607/4517
dc.description.abstract	Amac¸: Bu aras¸tırma, ku¨resel robotların denge, yalpalama ve kayma gibi problemleri ve c¸ok yo¨nlu¨ mobil robotların viraj alma problemlerini c¸o¨zmek ic¸in tasarlanmıs¸ birbirine bag˘lı iki o¨zdes¸ ku¨resel robotun dinamik modellemesini incelemek amacıyla yapılmıs¸tır. Birbirine bag˘lı iki o¨zdes¸ ku¨resel robotun dinamik modellemesindeki temel amacımız, c¸ok yo¨nlu¨ mobil robotlarda mecanum tekerlekler yerine birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımı kullanarak c¸ok yo¨nlu¨ bir mobil robot tasarlamaktır. Materyal ve Yo¨ntem: Bu tezde, MSC Adams programı kullanılarak tek bir ku¨resel robot ve birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik analizleri yapılmıs¸tır. Bu dinamik analizler sonucunda tasarımımızın uygulanabilirlig˘i kontrol edilmis¸tir. Sonuc¸ olarak, dinamik analiz sonuc¸larını da kontrol etmek ic¸in farklı yol profilleri u¨zerinde deneysel c¸alıs¸malar yapılmıs¸tır. Bulgular: Analiz ve deneylerden elde edilen sonuc¸lara go¨re, birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik modellemesinin uygulanabilir oldug˘u go¨ru¨lmu¨s¸tu¨r. Sonuc¸: Bu c¸alıs¸mada birbirine bag˘lı iki o¨zdes¸ ku¨resel robot tasarımının dinamik modellemesinin uygulanabilir oldug˘u anlas¸ılmıs¸tır.	tr_TR
dc.description.abstract	Objective: This research was carried out in order to examine the dynamic modeling of two identical coupled spherical robots that are designed to solve problems such as balance, wobble, and skiddingof spherical robots and cornering problems of omnidirectional mobile robots. Our main goal in the dynamic modeling of two identical coupled spherical robots is to design an omnidirectional mobile robot by using two identical coupled spherical robot designs instead of mecanum wheels in omnidirectional mobile robots. Material and Methods: In this thesis, dynamic analyses of a single spherical robot and two identical coupled spherical robots design were made by using the MSC Adams program. As a result of these dynamic analyses, the applicability of our design has been checked. As a consequence, experimental studies were made on different road profiles in order to check the result of dynamic analyses, too. Results: According to results that made of analyses and experiments, the dynamic modeling of two identical coupled spherical robots design has been seen to be applicable. Conclusion: It was understood in this study that the dynamic modeling of two identical coupled spherical robots design is applicable.	tr_TR
dc.description.tableofcontents	CONTENTS APPROVAL AND ACCEPTANCE ...........................................................................................i ACKNOWLEDGEMENTS .......................................................................................................ii CONTENTS ..............................................................................................................................iii LIST OF SYMBOLS AND ABBREVAITIONS......................................................................vi LIST OF FIGURES..................................................................................................................vii LIST OF PICTURES.................................................................................................................xi ÖZET........................................................................................................................................xii ABSTRACT ............................................................................................................................xiii 1. INTRODUCTION.................................................................................................................. 1 2. LITERATURE REVIEW....................................................................................................... 3 2.1. Mobile Robots..................................................................................................................... 3 2.1.1. Stationary Robots (Arm / Manipulator) ........................................................................... 3 2.1.2. Land-Based Robots .......................................................................................................... 4 2.1.2.1. Wheeled Mobile Robots................................................................................................ 4 2.1.2.2. Walking or Legged Mobile Robots .............................................................................. 9 2.1.2.3. Tracked Robots............................................................................................................ 12 2.1.2.4. Hybrid Robots ............................................................................................................. 13 2.1.3. Air-Based Robots ........................................................................................................... 13 2.1.4. Water-Based Robots....................................................................................................... 13 2.1.5. Others ............................................................................................................................. 14 2.1.6. Spherical Robots............................................................................................................. 15 2.1.6.1. History of Spherical Robots ........................................................................................ 15 2.1.6.2. Spherical Robot Design Configurations...................................................................... 16 2.1.6.3. Advantages and Disadvantages of Spherical Robots .................................................. 22 iv 3. MATERIAL AND METHOD.............................................................................................. 25 3.1. Model and Geometry......................................................................................................... 25 3.1.1. Geometry of Spherical Robot......................................................................................... 25 3.1.2. Components of Spherical Robot..................................................................................... 26 3.1.2.1. Acrylic Spherical Shell................................................................................................ 26 3.1.2.2. Arduino Nano .............................................................................................................. 26 3.1.2.3. DC Gear Motor ........................................................................................................... 29 3.1.2.4. HC-05 Bluetooth Module ............................................................................................ 30 3.1.2.5. L298N Motor Driver ................................................................................................... 31 3.1.2.6. 6LR61 Power Supply .................................................................................................. 32 3.1.2.7. Switch .......................................................................................................................... 32 3.1.2.8. 3D Printed Parts........................................................................................................... 33 3.1.3. Assemble of Spherical Robot ......................................................................................... 34 3.1.3.1. Electronic Assemble.................................................................................................... 34 3.1.3.2. Mechanical Assemble.................................................................................................. 39 3.1.4. Simultaneous Control of Two Identical Coupled Spherical Robots............................... 40 3.1.4.1. Circuit Diagram of Remote Control with a Joystick ................................................... 41 3.1.5. Adams Models of Two Identical Coupled Spherical Robots......................................... 42 3.2. Dynamic Analysis ............................................................................................................. 42 3.2.1. Verification of Analysis ................................................................................................. 45 3.3. Experimental Studies......................................................................................................... 47 4. RESULTS AND DISCUSSION........................................................................................... 55 4.1. Flat Asphalt and Icy Roads Analyses Data ....................................................................... 55 4.2. Dual (Asphalt and Icy) Flat Road Analyses Data ............................................................. 56 4.3. First Random Shaped Road Analyses Data....................................................................... 58 4.4. Second Random Shaped Road Analyses Data .................................................................. 60 v 5. CONCLUSION AND RECOMMENDATIONS ................................................................. 64 REFERENCES......................................................................................................................... 65 APPENDICES.......................................................................................................................... 80 APPENDIX 1 ........................................................................................................................... 81 APPENDIX 2 ........................................................................................................................... 82 APPENDIX 3 ........................................................................................................................... 83 APPENDIX 4 ........................................................................................................................... 84 APPENDIX 5 ........................................................................................................................... 85 SCIENTIFIC ETHICS STATEMENT..................................................................................... 86 CURRICULUM VITAE .......................................................................................................... 87	tr_TR
dc.language.iso	eng	tr_TR
dc.publisher	Aydın Adnan Menderes Üniversitesi Fen Bilimleri Enstitüsü	tr_TR
dc.rights	info:eu-repo/semantics/openAccess	tr_TR
dc.subject	Küresel Robotlar, Dinamik Analiz, MSC Adams, Birbirine Bağlı İki Özdeş Küresel Robot	tr_TR
dc.subject	Spherical Robots, Dynamic Analysis, MSC Adams, Two Identical Coupled Spherical Robots	tr_TR
dc.title	Dynamic modeling of two identical coupled spherical robots	tr_TR
dc.title.alternative	Birbirine bağlı iki özdeş küresel robotun dinamik modellenmesi	tr_TR
dc.type	masterThesis	tr_TR
dc.contributor.department	Aydın Adnan Menderes Üniversitesi Fen Bilimleri Enstitüsü Makine Mühendisliği Ana Bilim Dalı	tr_TR