Conceptual Design of an Omnidirectional Mobile Robot (original) (raw)

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 and Development of an Omnidirectional Mobile Robot

Applied Mechanics and Materials, 2013

Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. Using NIsbRIO9632xt as the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements.

Analysis, Design, and Implementation of an Omnidirectional Mobile Robot Platform

American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS), 2016

In this paper, an omnidirectional mobile robot is designed, analysed, evaluated and developed. A suitable design, of the robot is offered considering a number of practical factors. The methodology and operation of its omnidirectional locomotion is analysed by deducing a range of applicable equations for the robot kinematics, and trajectory plotting. The velocity PI algorithm is used to control the robot wheels' speeds. Several tests were applied to the robot platform such as repeatability and manoeuvrability tests. Reasonable results were shown after applying the analyses via computer programming. The designed omnidirectional robot platform is able to move instantaneously in any direction at any angle, without or with changing the orientation of the robot.

Designing Omni-Directional Mobile Robot Platform for Research

2008

Machines, as a key workforce in manufacturing, mining, construction, are essential for industry, and socially. However, existing mobile robots' designs do not provide enough mobility and maneuverability. This is one of the major factors that requires an improved design of mobile robot platform. This thesis is focused on designing an improved Omni-directional robot platform that has good mobility and maneuverability. To realize these conditions, a lot of criteria and constraints need to be considered in the design process. The conceptual design flows of this mobile robot are to satisfy the need of a mobile robot platform, establish Omnidirectional mobile robot specifications followed by concept generation and concept selection. A full decomposition of Omni-directional mobile robot was done. This was followed by building a morphology chart to gather several ideas for those sub-functions of mobile robot. Combination of different types of sub-functions will generate several new Omnidirectional mobile robot concepts. The concepts were drafted by using Three-dimensional (3-D) Computer Aided Designing SOLIDWORKS software. After concept generation, the concepts were evaluated by using weighted decision matrix method. The best concept was generated from 3-D design to get 2-D technical drawing and kinematics analysis. These analysis and results of the robot performance are presented in this thesis.

Modeling and Analysis of Omnidirectional Mobile Robot Toward Isotropic Design

guppy.mpe.nus.edu.sg

Mobile robots with omni-directional motion capabilities are very useful especially in mobile manipulation tasks and tasks in human environment. In this paper, we present the kinematics and dynamic of one class of omni-directional mobile robots that is driven by 2-axis powered caster wheels with non-intersecting axes of motion. Our derivation approach treats the each caster wheel as a serial manipulator and the entire system as a parallel manipulator generated by several serial manipulators with a common end-effector, following the operational space approach and augmented object model introduced by Khatib. The kinematics and dynamic analysis can be used to obtain the optimal design of mobile robot powered by 2-axes caster wheels.

Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot

International Journal of Electrical and Electronics Engineering, 2019

A three-wheeled omnidirectional mobile robot is a mobile robot can solve constraint of common design a mobile robot which uses two-wheel drive with differential steering and a free balancing wheel (Non-holonomic). By found kinematic model of a three-wheeled omnidirectional mobile robot, we describe inverse kinematics and inverse jacobian matrix to control and the simulated motion of a mobile robot for optimizing mobility and maneuvers ability of a mobile robot. It has a past advantage over a conventional design (non-holonomic) in term of mobility and maneuvering in a congested environment. In this paper, we are presentinganalysis and simulated kinematic model a three-wheeled omnidirectional mobile robot, velocities of coordinates, and trajectory from initial pose to the desired pose. The simulation of the trajectory robot is used to describe the ability of a system to move instantaneously in any direction from any configuration. Modeling mobile robot with three wheels Omni-directional describe optimizing motion capability in differential geometric point of view. This research is will be developing for visual servoing law method research in robotic field.