Material optimization for ladder climbing robot

In this thesis, a robotic system that is capable of obstacle and ladder climbing was designed with utilization of analytical calculations and numerical analysis. Designed robotic system is suitable to work in both domestic and industrial environment. With this purpose, hybrid transitional locomotion mechanism that consists of three wheels and legs was developed. In analytical calculations, robotic system that some structural elements' (coupling, shafts) materials were defined as S235 and other structural elements materials as PLA was modelled to calculate power, acceleration and torque requirement. Same material configuration were modelled to obtain similar outputs and applied to numerical analysis software ANSYS Rigid Body Dynamics. That comparison process between analytical and numerical solutions was used as verification of models. Numerical analysis was applied for chassis of the robot with S235, Al6061, PLA and ABS materials. Obtained results were used to analyze critical components of robot such as inner shaft, main shaft and outer gear to investigate of strength of materials. According to the obtained results from computations & analyses and energy efficiency, it was observed that it was the most suitable and optimum to manufacture the chassis of the robotic system using PLA material. It was also found that the developed system was required 67.5 Watt power in the operation. Key Words: Analytical Calculations, Design Optimization Basis on Strength and Efficiency, Ladder Climbing Robot, Material Selection, Numerical Analysis.