Monz, Bernard (2016) Robot Cat – a free-fall analyses. [USQ Project]
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Abstract
This report is an investigation into the mathematical component of a falling robotic cat. The self correcting robot can be used to advance current technology in soft fall robots as well as other areas of space travel, and robot development.
The results of the mathematical investigation influence the design of a mechanised self writing robot. The robot is tested and results are comparable to free fall tests.
It is known by most that a cat lands on its feet, and a cat performs the necessary turn instinctively from a young age, yet the mathematics involved can be complex and there are different theories on how it is done. Without ever breaking the law of angular momentum, the cat is able to turn over mid fall.
This paper investigates which of the current theories of the cat turn, are the most suited for creating a robotic cat. The theories on the cat turn have been named for the purpose of this paper as the leg swing (or inertial turn), and the tin can turn. This becomes the key to identifying what methods to use, as both have traits that make them unique.
The mathematical model of the selected method is compared with the results from an actual test of a robot. These tests include the use of two different drives in the robot and the problems associated with both are discussed. The two different drives are comparable to the mathematical model and displayed within the report.
The construction of the robot was anything but smooth. A discussion into the method of construction and the problems experienced as well as solutions which were derived identify many faults not to be experienced by future attempts at this topic.
Some of the solutions being far from optimal, it is demonstrated how these solutions were used to achieve a result. In fulfilment of the requirements of ENG4111 and 4112 Research Project, this report lists the objectives and results in detail.
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| Item Type: | USQ Project |
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| Item Status: | Live Archive |
| Additional Information: | Bachelor of Engineering (Honours) Major Mechanical Engineering project |
| Faculty/School / Institute/Centre: | Historic - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 Jul 2013 - 31 Dec 2021) |
| Supervisors: | Snook, Chris |
| Date Deposited: | 21 Jul 2017 01:59 |
| Last Modified: | 21 Jul 2017 01:59 |
| Uncontrolled Keywords: | mathematical model; falling robotic cat; self writing robot |
| Fields of Research (2008): | 09 Engineering > 0913 Mechanical Engineering > 091302 Automation and Control Engineering |
| Fields of Research (2020): | 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified |
| URI: | https://sear.unisq.edu.au/id/eprint/31449 |
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