Abstract
Autonomous mobile robots are becoming more popular today and are successfully integrated into many civil and industrial projects. In the industrial sectors flexibility and modularity have an important role, so the production can be diversified and achieved with low costs. This paper presents the conceptual and functional design of a modular locomotion system for an autonomous mobile platform that can be configured according to the needs of the industrial environment it serves. The architecture of the locomotion system is based on a spring suspension system and three types of wheels: conventional wheels, omnidirectional wheels and mechanum wheels. The calculations for the chosen suspension system are presented, which ensure the contact with the ground for each type of wheel and the resignation calculations for the engine that will drive the wheel. Finally, some variants of configurations are presented that can be made on an autonomous mobile platform with these modules.
Highlights
Research in the field of mobile robots has expanded rapidly, due to their many advantages
Modular robotics is a topical approach in which several homogeneous or heterogeneous robot modules are assembled according to the requirements, with high flexibility and low costs
In order to set in motion a mobile robotic platform, the mode of locomotion must be able to overcome the frictional forces between the wheels and the supporting surface on which it moves, the inertia forces, and the frictional forces inside the electrical motor
Summary
Research in the field of mobile robots has expanded rapidly, due to their many advantages. Maneuverability and locomotion systems, different types of mobile robots have been designed [3,4]. The main purpose of this research is to design and develop a concept of modular locomotion for mobile robots that can serve the industrial sector. Modularity-the mobile platform can be assembled or disassembled by staff who do not need special training due to the design and simple mechanisms used in the construction of individual modules. Modular robots are usually equipped with docking mechanisms to join and separate from other robots while forming coordinated structures [6] It presents a modular design for a locomotion system with different types of wheels and the possibilities of configuring a mobile platform with these types of modules
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