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Design and Construction of a Two-Wheel Mobile Robot

By Milan Meisl


This diploma thesis deals with a design and construction of a two-wheeled mobile robot. In order to prepare a high-quality project, a testing carriage has been constructed serving as a basis of useful information for the final design and construction. Beside introduction and conclusion, the diploma thesis consists of four main parts. While the first part of the thesis briefly introduces the field of robotics, the theoretical part focuses both on particular components necessary for the robot's construction as well as the Segway vehicle which served as an inspiration for the robot's functionality. After characteristics of a testing carriage, attention is devoted to individual methods of stabilization, with several different types of sensors being used. Furthermore, the chapter on mechanical design examines choice of devices and their position and provides a scheme for their construction. The electrical design follows afterwards, describing circuits that were considered optimal for the designed wiring. The forth part of the diploma thesis concentrates on the construction of a two-wheeled carriage and covers following topics: construction of mechanical components, production of electric boards, programmatic equipment of the carriage and its implementation, testing of the carriage and finally also an evaluation of achieved results

Topics: STM32; H-bridge; accelerometer;   Primer 2; gyroskop; EAGLE; konstrukce; akcelerometr; H-můstek; Two-wheeled mobile robot; construction; Dvoukolý mobilní robot; gyroscope; Primer 2
Publisher: Vysoké učení technické v Brně. Fakulta informačních technologií
Year: 2011
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