Kinematic of 3-Wheels Swerve Drive Using BLDC Motor

Abstract

The stability of the robot's performance is very important, especially for the wheeled mobile robots that use swerve drives, which need kinematic control to reach the destination point. The study of robot movement known as kinematics is based on an examination of the geometric structure of the robot, with no consideration given to the mass, force, or acceleration that the robot experiences during movement. This study aims to model and simulate the kinematic control design of a wheeled robot that uses a swerve drive. This robot uses BLDC motor actuator so that the robot can reach its destination very quickly and steadily. The test is carried out by simulating and comparing the performance response using BLDC motors and DC motors. According to the testing and trials, the robot can reach its destination by modeling its kinematic control, and BLDC motors are found to be more reliable and efficient for driving and steering than DC motors.