Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


Brandstaetter - Thesis.pdf (6.97 MB)

ETD Abstract Container

Abstract Header

The Drawbar Pull Test Performance and Scalability of a Collaborative Multi-Robot Traction Control System

Brandstaetter, Jackson Eli
http://orcid.org/0000-0002-0979-9459
http://rave.ohiolink.edu/etdc/view?acc_num=toledo1659543099758521

Abstract Details

2022, Master of Science, University of Toledo, Mechanical Engineering.
The drawbar pull force of a vehicle can be characterized as its towing capacity, typically of an external implement or load. Quantitatively, drawbar pull is the effective force that automobiles, robots, and other transportation machines can apply to a load by means of an internal combustion engine, electric motor, and mechanical transmission power generation. Resources from the U.S. Army Engineers, the International Organization of Standardization, and the National Aeronautics and Space Administration have established guidelines for drawbar pull testing with heavy machinery and exploratory vehicles on non-solid drive surfaces. In this research, the listed resources as well as others were referenced for the development of additional drawbar pull test procedures for ground vehicle robots operating on solid drive surfaces. In drawbar pull testing, wheel slip is induced on the vehicle. The prevalence of safety mechanisms such as a traction control system in modern vehicles made this a practical application to incorporate into the study as well. In addition to single-robot capabilities, there may be benefits in capacity or efficiency when multiple robots are used to execute a task. When it comes to the pulling effort generated by ground vehicle robots, the scalability of the drawbar pull capacity when units are added to the system is another point of interest. In this thesis research, a novel drawbar pull force rig developed for ground robots was used to evaluate the effect of a traction control algorithm on drawbar test performance, the role that drive surface plays in drawbar test performance, and the scalability of the traction control algorithm as a multi-robot system. This thesis also discusses the measures taken to validate the functionality of the test rig, traction control algorithm, and multi-robot system. Two robot models, the Clearpath Jackal and ROBOTIS Turtlebot3 Waffle, were used to demonstrate the methodology discussed and draw conclusions relevant to the objectives of the research.
Adam Schroeder (Committee Chair)
Sorin Cioc (Committee Member)
Brian Trease (Committee Member)
189 p.
Mechanical Engineering; Robotics
Drawbar pull test, Traction control algorithm, Multi-robot system

Recommended Citations

Citations

  • Brandstaetter, J. E. (2022). The Drawbar Pull Test Performance and Scalability of a Collaborative Multi-Robot Traction Control System [Master's thesis, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1659543099758521

    APA Style (7th edition)

  • Brandstaetter, Jackson. The Drawbar Pull Test Performance and Scalability of a Collaborative Multi-Robot Traction Control System. 2022. University of Toledo, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo1659543099758521.

    MLA Style (8th edition)

  • Brandstaetter, Jackson. "The Drawbar Pull Test Performance and Scalability of a Collaborative Multi-Robot Traction Control System." Master's thesis, University of Toledo, 2022. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1659543099758521

    Chicago Manual of Style (17th edition)

toledo1659543099758521
306
© 2022, all rights reserved.
This open access ETD is published by University of Toledo and OhioLINK.