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3D Printed Mini-Whegs Robot Design and Vibration Analysis

Passmore, Catherine M
http://orcid.org/0000-0001-8339-7928
http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464

Abstract Details

2017, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
A Mini-Whegs vehicle was designed, fabricated, and assembled consisting predominantly of 3D printed parts. 3DP Mini-Whegs is a fully functional, Bluetooth controlled, mobile quadruped approximately 6 ½ inches long. It’s a member of the Whegs family of robots, which all utilize rotating, spoked appendages, called wheel-legs. The unique geometry of these appendages introduces considerable vibrations to the system, making it difficult to integrate vibration sensitive equipment, such as cameras or sensors. A vibration analysis model was developed to simulate vibrations in the moving robot. Three wheel-leg designs were developed and analyzed to determine that stiffer spokes provide less vertical displacement and less stiff ones offer less angular displacements, and that four spoked wheel-legs are considerably more stable than three. Different front-to-back wheel-leg phase angles vary the vibrations but an optimal angle depends on application. Experiments investigated the validity of the simulation and verified the difference in stiffness of compared wheel-legs.
Roger Quinn (Advisor)
Richard Bachmann (Advisor)
Clare Rimnac (Committee Member)
130 p.
Design; Mechanical Engineering; Mechanics; Robotics; Robots
Whegs; Mini-Whegs; vibration; vibration analysis; mobile robot; robot; 3D printing; wheel-leg; vibration

Recommended Citations

Citations

  • Passmore, C. M. (2017). 3D Printed Mini-Whegs Robot Design and Vibration Analysis [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464

    APA Style (7th edition)

  • Passmore, Catherine. 3D Printed Mini-Whegs Robot Design and Vibration Analysis. 2017. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464.

    MLA Style (8th edition)

  • Passmore, Catherine. "3D Printed Mini-Whegs Robot Design and Vibration Analysis." Master's thesis, Case Western Reserve University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464

    Chicago Manual of Style (17th edition)

case1485542260153464
1,441
© 2017, some rights reserved.Creative Commons License 3D Printed Mini-Whegs Robot Design and Vibration Analysis by Catherine M Passmore is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.
Release 3.2.12