Abstract
This paper presents the mechanical design process of two wheeled mobile robots. Each step of the final design process in two cases is described. Case I is related to the omni-directional mobile robot and case II is a differential drive robot. In addition, the kinematics equations of the final design are derived and their inverse Jacobian matrix for the designs are presented. The dynamic equations of motion for the final design are derived in a symbolic form, assuming that no slip occurs on the wheels in the spin direction. In order to validate the kinematics and dynamic equations, consequences of simulation in Maple and Visual Nastran softwares are carried out. Finally, by using kinematics equations and UMB mark test errors of an omni-directional robot and differential drive robot are determined and corrected by applying correction factors.
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