This paper describes the development of a new suspension system for the ASTRO robot, which serves as a platform for teaching students about programming and controlling mobile robots. The main issue with the existing suspension is that the robot cannot overcome obstacles on the floor and loses necessary contact with the surface on its driving wheels. Therefore, the primary goal of modifying the suspension is to ensure that the robot can cross thresholds, cables, and similar obstacles up to 10 mm in height, while retaining the existing drive assembly, housing, and arrangement of other electronic components. Additionally, it is desirable that the proposed solution is as simple and cost-effective as possible to produce and maintain in an educational environment. The introduction presents an overview of mobile robots and their various applications. Then, an analysis of the robot for which the suspension needs to be designed was conducted. The main components of the robot and its operating principle were analyzed, defining the boundary conditions and key issues that need to be addressed. As a result of this analysis, a list of requirements that the new suspension must meet was created. After defining the requirements, a market analysis was carried out, with a focus on mobile robot suspensions, to gain an understanding of the working principles of such systems. Upon completion of the market analysis, the concept development phase began, which included defining functions, creating schematic and 3D concepts, and selecting the best concept according to criteria derived from the design requirements. Following the conceptualization, the initial design of the chosen concept was developed, and a prototype was created and tested. Testing of the first prototype provided feedback for further development of the design, with particular emphasis on ensuring adequate dust protection for the housing, in addition to the suspension. During the design process, DfX guidelines were used, and the result of that process was another prototype, which was tested in real driving conditions to evaluate the overall design solution.
Tin Kokotović
2024
Bachelor thesis
