Date of Publication


Document Type

Master's Thesis

Degree Name

Master of Science in Manufacturing Engineering

Subject Categories

Manufacturing | Robotics


Gokongwei College of Engineering


Manufacturing Engineering and Management

Thesis Advisor

Ryan Rhay P. Vicerra

Defense Panel Chair

Rhen Anjerome R. Bedruz

Defense Panel Member

Argel A. Bandala
Elmer Jose P. Dadios


Tracked mobile robots are becoming a popular research field due to their ability to maneuver in a cluttered environment, overcome obstacles, adapt to the ground environment, an advantage in the extensive support area, and resistance to slide. These robots are used in several applications such as transportation, industrial processes, agriculture works, military operations, and dangerous environment missions. A wheeled-type robot’s body stability is more developed and studied than a tracked robot. With this research gap, there is a need for researching and evaluating the body stability of tracked robots.

The TS100 tracked robot suspension wheel was modified to active actuation using servo motors through the policy of a sonar sensor, active suspension system. In this system, the traversal of the modified track robot in the uneven ground is hypothesized to be more stable. The modified mechanical parts, actuators, and wireless signal reach is primarily determined and validated through preliminary tests, such as finite element analysis, specification vs. actual, and wireless signal range test. In the experiment, the IMU sensor used for measurement is calibrated. A particular algorithm is used to find the accurate offset input for the sensor. Then, the sonar sensor accuracy is determined and validated its measured distance using a metal ruler. Moreover, the performance and validation experiments conducted are; single bump, double bump, and 20-degree inclined surface tests. Two configurations serve as independent groups; without active suspension and with active suspension. Furthermore, the top 20 highest oscillation reading per trial per configuration is recorded and averaged. 16 Trials per configuration per experiment are further documented and statistically analyzed in Minitab 19.

Finally, the resulting P-value for independent sample t-test in single bump, double bump, and 20-degree inclined surface experiments is

Keywords: Tracked robots, Stability improvement, Active Actuator

Abstract Format







Mobile robots—Stability

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Available for download on Thursday, July 04, 2024