Control systems in omni-directional robotic vehicle with mecanum wheels (original) (raw)

Designing Omni-Directional Mobile Robot with Mecanum Wheel

American Journal of Applied Sciences, 2006

This study presents the processes undertaken in the design and development of an intelligent omni-directional mobile robot using four custom-made mecanum wheels. The mecanum wheel developed consists of nine rollers made from delrin. All mecanum wheels are independently powered using four units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot chassis made using an aluminum frame. A four channel high power H-bridge using 2 units of LMD 18200 motor drivers IC circuit was design, built and interfaced to a BasicStamp (BS2) microcontroller board. Basic mobility algorithm using BasicStamp software was developed to test the basic mobility capabilities and test the qualitative view of the system's mobility performance. An experiment was setup to analyze the motion characteristic of the mobile robot motion in Y-axis, Xaxis and rotary motion. Data from the experiment will be used for mathematically model for mobile robot platform and speed controller modeling and design. Mecanum wheel mobile robot provides a convenient platform for further development in the mobile platform. The combination of mechanical design on the wheel and chassis, motion control and multiple input/output sensors allow the exploration of large number of control algorithm and software to be implemented to the robot for practical applications.

A Design Of Omni-Directional Mobile Robot Based On Mecanum Wheels

As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies such as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance.

Conceptual Design of an Omnidirectional Mobile Robot

In order to move in tight areas and to avoid obstacles mobile robots should have good mobility and maneuverability. These capabilities mainly depend on the wheels design. Research is continuously going on in this field, to improve the autonomous navigation capability of mobile robotic systems. This paper provides some information about the mechanical design of an omni-directional robot, about its kinematics, as well as about its electronics and control strategies. This report is the result of a research conducted at the Robotics Laboratory of the Mechanical Engineering Faculty, “Gh. Asachi” Technical University of Iasi, Romania.

Design and Construction of a Robotic Vehicle with Omni-directional Mecanum Wheels

Transactions of the VŠB - Technical University of Ostrava, Mechanical Series, 2014

The paper deals with the design and construction of a universal robotic vehicle prototype, used for laboratory and educational purposes. The main goal is its use as a technology demonstrator for the needs of students, therefore it is equipped with several kinds of sensors and universal advanced control technologies and design solutions. Its basis is a control system and construction concept using mobile battery gear and omnidirectional Mecanum wheels. A manipulating arm and advanced tracking and spatial navigation systems are also components of the design. Since the problem of a customized design and construction of such a robotic vehicle is very complex and solved in various scientific fields, in this paper we will mainly focus on the detailed description of the control systems and subsystems of the vehicle. Abstrakt Príspevok sa zaoberá návrhom a stavbou prototypu univerzálneho robotického vozidla, slúžiacieho pre laboratórne a študijné účely. Účelom je jeho využitie ako technologického demonštrátora pre potreby študentov, z tohto dôvodu je osadený univerzálne všetkými dostupnými druhmi snímačov a univerzálnymi pokrokovými riadiacimi technológiami a konštrukčnými riešeniami. Základom je jeho riadiaci system a konštrukčné prevedenie s batérióvym pohonom pre všesmerové Mecanum kolesá. Súčasťou konštrukcie je aj manipulačné rameno a pokrokové systémy lokalizácie a navigácie v priestore. Nakoľko problematika vlastného návrhu a stavby takéhoto mechatronického robotického vozidla je veľmi obsiahla a riešená v rôznym vedných oblastiach, budeme sa v tomto príspevku konkrétne venovať jeho riadiacim systémom a podsystémom, ktoré si podrobnejšie rozpíšeme.

Design, Modeling and Control of an Omni-directional Mobile Robot

Solid State Phenomena, 2010

One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omnidirectional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at "Gh. Asachi"

Design of Omnidirectional Robot with Mecanum Wheels

2022

Today, mobile robot systems are becoming more and more beneficial in a variety of settings, including industries, military facilities, hazardous places, and warehouses. Using Mecanum wheels as a drive system for omnidirectional mobile robots, this study reveals the excellent mobility and agility that they provide. A motion Study was done, as well as a study on several mechanical wheel designs. Omni vehicle uses mecanum wheels. The passive rollers are oriented at an angle of 45 degrees concerning the axis of rotation operated. This construction allows the wheels to be arranged in a rectangle. By rotating the wheels in a given pattern, diagonal forces are used and then the robot can move in any direction. The Mecanum wheels are often referred to as left-handed and right-handed Mecanum wheels. The axis of rotation of the top roller of each wheel should point to the centre of the robot. An Omnidirectional robot with mecanum wheels is designed. motion study and static analysis are carried out on the design.

Mechatronic designing and prototyping of a mobile wheeled robot driven by a microcontroller

Journal of Theoretical and Applied Mechanics, 2020

The paper presents an existing example of the process of mechatronic designing and prototyping of a mobile wheeled robot. Selection and specification of the mathematical model from a suitable class precedes the presentation of kinematic and dynamic equations describing the dynamic object of the analysis. Further sections contain the methods of designing, the CAD model of the device, software and electronics design. The methodology of designing and prototyping of the mobile wheeled robot is identified and presented in this paper as a solution that may be used for the purpose of designing mechatronic hardware of this kind.