Abstract
Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot's chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations.
Highlights
Omnidirectional mobile robots are useful in a large variety of indoor service applications such as industrial, medical, and domestic purposes
When the three-wheeled omnidirectional mobile robot (TWOMR) moves in the forward direction at velocity velocity in both forward (Vf), velocities V1 and V2 can be derived as follows: V1 = Rω1 = + cos (δ) ẋ + sin (δ) ẏ, (2)
For the forward movement analysis of TWOMR, two trials are conducted for each angle (θ = 30∘, 45∘, 60∘, 90∘, and 120∘) and deflection readings are plotted in Figures 11, 12, 13, 14, and 15, respectively
Summary
Omnidirectional mobile robots are useful in a large variety of indoor service applications such as industrial, medical, and domestic purposes. The number of wheels and the layout can both affect the performances of the chassis [2–4]. There have been several works on the applications of using omnidirectional mobile robots [5, 6], the development of three special wheeled structures, and the isotropy analysis of the mobile robots and kinematic analysis. There have been several works on the impact of the number of wheels and layouts to the performances of omnidirectional chassis [7–9]. The angle variations between those two wheels will enable us to analyse the sideways movement of triangular structure and crossway movements of square structure omnidirectional robot. The forward and reverse movement analysis and deflections caused due to the various angles between two wheels, like θ = 30∘, 45∘, 60∘, 90∘, and 120∘, were experimentally analysed. The theoretical analysis and experimental tests were conducted in order to demonstrate the performance of TWOMR
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