Recommissioning of a Mobile C-Arm Robot with Mecanum Drive
Abstract
A mobile C-arm system is available at the OIC, provided by Siemens Healthineers as equipment support. The goal of this thesis is to analyse the existing robotic platform and gradually bring it back into operation. The system is based on a mobile platform with a mecanum drive, enabling omnidirectional motion in confined, clinic-related environments.
The first step of the work is to assess and document the current state of the system. This includes analysing the existing hardware and software, evaluating the electrical and mechanical components, and identifying the causes that currently prevent recommissioning. Based on this analysis, suitable measures for restoring operability are to be developed and implemented.
A central part of the project is the control and regulation of the mecanum drive, including the investigation of kinematics, driving behaviour, and motion accuracy. In addition, minor mechanical modifications will likely be necessary to mount components, improve structural stability, or adapt existing interfaces to the current system environment.
Depending on the scope and type of thesis, additional aspects such as safety and operating concepts, sensor integration, simple navigation functions, or a ROS-based software connection may also be considered. Finally, the system is to be validated in a structured test environment and the achieved functionality documented.
Work Packages
- Analysis and documentation of the existing robotic system
- Review and evaluation of hardware and software components
- Troubleshooting and development of a recommissioning concept
- Implementation or adaptation of the mecanum drive control
- Minor mechanical modifications and integration work
- Testing, validation, and documentation of system functionality
Requirements
- Interest in mobile robotics, mechatronics, and technical systems
- Basic knowledge of robotics, control engineering, or vehicle systems
- Practical experience in at least one of the following areas: programming, electronics, or CAD / mechanical design
- Ideally, first experience with ROS, Python, or C++
- Independent and structured way of working
Depending on the specific focus, the topic can be carried out as a project thesis, bachelor’s thesis, or master’s thesis.
Supervision
| Role | Name | |
|---|---|---|
| Supervisor | Prof. Dr. Christian Pfitzner | christian.pfitzner@th-nuernberg.de |
Location: TH Nürnberg Georg Simon Ohm / OIC
Prof. Dr. Christian Pfitzner
Professor of Mobile Robotics
Professor of Mobile Robotics at TH Nürnberg Georg Simon Ohm, Faculty efi. Director of the TTZ Nürnberger Land. Research interests in autonomous navigation, drone technology and sensor fusion.