Abstract
This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.
Highlights
In 2018, the world mobile robot market was worth USD 19 billion [1]
Terrestrial mobile robots can be categorised using a number of criteria, and their constructed systems differ in terms of locomotion types
A vehicle with a drive system with multidirectional tracks is equipped with four continuous track systems, which can usually be positioned in various ways with regards to the vehicle’s body
Summary
On the basis of the latest forecast, it is estimated that by 2023 its value will have nearly tripled. These robots have already moved from closed research centres and innovation fairs to the reality of everyday life. Terrestrial mobile robots can be categorised using a number of criteria, and their constructed systems differ in terms of locomotion types. They can be wheeled, stepping, tracked, or ball balancing robots [4]
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