Exjobb – Development of a nonlinear mechatronic cube - The jumping and balancing cube

Abstract

The thesis describe the development and construction of a nonlinear mechatronics cube which is able to jump up from the surface to one of its edges and balance. The mechanical part of the cube is developed using the softwares CATIA V.5 and MATLAB/Simulink. The final cube is controlled by a Look-Up tabled LQR-controller with added integral states. The code was generated using MATLAB/Simulink Embedded Coder.

The cube is able to balance on any surface and can resist small pushes up to 2 degrees. It also managed to successfully jump up and balance 4 out of 25 times.

Thesis

Thesis