Σχεδιασμός, κατασκευή και έλεγχος του κινητού ρομπότ ‘PYGMALION'

Abstract

In recent years, robots have entered human life, replacing, supplementing or collaborating with humans. As part of this master's thesis, the reader will be informed about the design, construction, assembly and control of the wheeled robot ‘Pygmalion’. This master's thesis deals with the study, development, design, construction, assembly and control of a general purpose mobile robot, such as a medical auxiliary vehicle / robot, which has the ability to move within a hospital or in a general patient environment, and act as an assistant nurse or doctor. In addition to the ability to provide assistance, Pygmalion is being developed for research purposes at the UCY Robotics LAB of the University of Cyprus, and the platform is ready to host further subsystems, including a robotic manipulator of the lab. To begin with, a quick overview of the history and different types of mobile robots was provided. Some of the existing wheeled robots that are used as hospital assistants, general purpose, or developed for research purposes were then investigated. Then the basic features and subsystems of Pygmalion are listed, helping the reader to understand how the robot works. This is followed by the chapter on the design and construction of the parts (e.g. materials, mechanical components), and then the assembly sequence of the components (mechanical and electronic). Also, images from the 3D model and the original prototype are presented. After the design and the presentation of the prototype robot, it follows the chapter of electrical and electronic systems which explains the electrical / electronic components applied to Pygmalion, the wiring and the code which is written in Python programming language. Finally, the experimental results of the robot follow, presenting the different modes of operation (with normal wheels or mecanum wheels), the Bibliography and the Appendices I & II in which there are the Datasheet of the basic elements (e.g. bearings, motors, batteries) and the code.