Award Date
12-1-2024
Degree Type
Thesis
Degree Name
Master of Science in Engineering (MSE)
Department
Electrical and Computer Engineering
First Committee Member
Venkatesan Muthukumar
Second Committee Member
Sahjendra Singh
Third Committee Member
Emma Regentova
Fourth Committee Member
Woosoon Yim
Number of Pages
129
Abstract
The water droplet penetration test (WDPT) is an environmental assessment method for analyzing soil properties by measuring the penetration of water droplets into soil. This test provides insights into soil moisture retention and resilience, especially valuable in fire-prone or arid regions where soil recovery and erosion control are essential. Although this project does not conduct an actual WDPT, it investigates two key robotic systems designed to support such applications: an X-delta robot arm, which simulates precise droplet delivery patterns, and a self-leveling platform that ensures stability on uneven terrain, where the X-delta robot is mounted. Together, these systems examine the precision and stability requirements necessary for future autonomous UAV operations in challenging environments.
The X-delta robot arm explores the limitations and capabilities of delivering specific droplet patterns on a flat surface. Through kinematic modeling, simulations, and hardware testing, this project evaluates the robot's ability to perform precise and repeatable motion patterns that could be useful for environmental testing applications. Using real-time feedback from visual sensors, the control system can correct any positional deviations, enhancing the robot’s accuracy.
The self-leveling platform research focuses on a four-legged robotic system designed to adapt to uneven ground by adjusting each leg's length to maintain balance. This component aims to determine the maximum incline the platform can handle without tipping, a crucial feature for UAVs or robotic systems operating on sloped or rugged terrain. Combined, these two systems lay the groundwork for autonomous robotics that integrate precision and adaptability, supporting stable UAV landings and other tasks requiring a leveled platform in varied environments.
Keywords
End effector control; Image Processing; Kinematics modeling; Self leveling; UAV; X Delta Robot Arm
Disciplines
Electrical and Computer Engineering | Mechanical Engineering
File Format
File Size
3700 KB
Degree Grantor
University of Nevada, Las Vegas
Language
English
Repository Citation
Sobha, Prathibha, "Control of X-Delta Arm and Self-Leveling Robot Systems for UAV Applications" (2024). UNLV Theses, Dissertations, Professional Papers, and Capstones. 5205.
http://dx.doi.org/10.34917/38330417
Rights
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