Design, optimisation and fabrication of a climbing six articulated-wheeled robot using the artificial evolution and 3D printing

Lim, Shun Hoe (2016) Design, optimisation and fabrication of a climbing six articulated-wheeled robot using the artificial evolution and 3D printing. Masters thesis, Universiti Malaysia Sabah.

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Abstract

Over the last decade, various mobile robots have been developed and widely used in myriad sectors. However, the vast majority of mobile robots are manually designed where the designers must have the preliminary knowledge of the Interaction between the robots and the environment. Additionally, the high complexity Involved in the design of the kinematics and controllers of a mobile robot has always been the biggest challenge for researchers and practitioners alike. Thus, the task of designing a robot can be considered very demanding and extremely challenging. In this research, an artificial evolution approach utilizing Single-Objective Evolutionary Algorithm (SOEA) and Multi-Objective Evolutionary Algorithm (MOEA) respectively are investigated in the automatic design and optimization of the morphology of a Six Articulated-Wheeled Robot (SAWR) with climbing ability. Simulations are carried out in Webots, a high fidelity physical-based robot simulator. Simulations results show that the SOEA is able to produce optimized SAWR with climbing ability while the MOEA is able to produce a set of Pareto optimal solutions which provide users with a choice of solutions for trade-off between the objectives of morphology size and climbing performance. The Pareto optimal set of solutions are the smallest SAWR with the least climbing ability to the biggest SAWR with the best climbing ability. The research continues by transferring the evolved solutions from simulation to the real world using 3D printing. The body, legs and wheels of the evolved robots are printed by a 3D printer and assembled with sensors, servos and motors for real world testing. Results show that the fabricated real world SAWRs were able to perform the climbing motion with an average accuracy of 80.9% compared to the performance in simulation.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Single-Objective Evolutionary Algorithm (SOEA), Multi-Objective Evolutionary Algorithm (MOEA), Six Articulated-Wheeled Robot (SAWR), climbing ability, mobile robots
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: FACULTY > Faculty of Engineering
Depositing User: Munira
Date Deposited: 28 Dec 2017 22:35
Last Modified: 28 Dec 2017 22:35
URI: http://eprints.ums.edu.my/id/eprint/6005

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