Date of Graduation
5-2021
Document Type
Thesis
Degree Name
Bachelor of Science in Mechanical Engineering
Degree Level
Undergraduate
Department
Mechanical Engineering
Advisor/Mentor
Wejinya, Uchechukwu
Committee Member/Reader
Huang, Po-Hao Adam
Abstract
This thesis presents the concept of using a two wheeled robot on the moon and briefly explores the requirements for successful long term operation in a lunar environment. The mathematical model for the motion of a robot with two fixed wheels on a differential drive with in a global reference frame. The robot is assumed to be balancing a platform so the mathematical model to balance the platform with wheel motors is also developed and briefly evaluated.
Keywords
Robot, Two-Wheeled, Inverted Pendulum, Mathematical Model
Citation
Remell, K. (2021). Mathematical Modeling of a Two Wheeled Robotic Base. Mechanical Engineering Undergraduate Honors Theses Retrieved from https://scholarworks.uark.edu/meeguht/96