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 C.

Committee Member

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

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