Design and Performance Analysis on Movement of Square, Triangular and Octagonal Structured Omnidirectional Mobile Robot
نویسندگان
چکیده
This paper addresses the issue of development of a three wheel, four wheels and eight wheel Omni directional mobile robot. The Omni directional wheel is used in this research consists of 8 rollers made from synthetic rubber coated polypropylene rollers. All Omni wheel are independently powered using 3, 4 and 8 units of precision gear DC motors and the wheel/ motors assemblies where mounted directly to the robot chassis made using an aluminum frame. Basic mobility algorithm was developed to test the basic mobility capability and test the qualitative view of the systems and mobility performance. An experiment was setup to analysis the motion characteristics of the mobile robot motion in y-axis, x-axis and rotary motion. Data from the experiment will be used for mathematically model for mobile robot platform and speed controller modeling and design. The combination of mechanical design on the wheel and chassis, motion control allow the exploration of large number of control algorithm and software to be implemented to the robot for practical applications.
منابع مشابه
Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels.
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