Abstract
AbstractThis paper presents the mechatronic system design and development of a four-wheel drive/steer (4WD4S) mobile robot as a non-holonomic omnidirectional robot, MARIO—Mobile Autonomous Robot for Intelligent Operations. An innovative integrated application of CAD/CAM/CAE and RP has been employed for rapid development of the robot chassis and other mechanical parts by using different software tools. Most of the parts were designed by 3D CAD software which allows further CAE analysis including structural and motion analysis. To reduce the manufacturing time and cost, CAM and RP have been used to manufacture the main parts. These master parts are manufactured by workshop machining and 3D printing. Robot Operating System (ROS) alongside Gazebo simulator have been utilized for modelling, simulation, software development and visualization which enabled to develop the optimum embedded system to control the robot. With this integrated approach, a prototype of MARIO has been developed with a reasonably low manu...
Highlights
Application of mobile robots from indoor to outdoor usage in industries, agriculture and other sectors has been growing vastly
Developing a robotic system as a mobile base platform is required to augment and automate tasks in agriculture
Many research has been done in the development of mobile robotic systems to automate different agricultural tasks for greenhouses (Ko, Ryuh, Kim, Suprem, & Mahalik, 2015; Mehta, Burks, & Dixon, 2008), orchards (Bergerman et al, 2015; Shalal, Low, McCarthy, & Hancock, 2015) and agricultural fields (Noguchi, Will, Reid, & Zhang, 2004; Yang, Noguchi, & Takai, 2016)
Summary
Application of mobile robots from indoor to outdoor usage in industries, agriculture and other sectors has been growing vastly. For such applications that are hazardous or hardly accessible, where it can be dangerous or difficult for humans, mobile robots can be the best choices to carry out the tasks. An alternative is to let smaller, light weight mobile robots cooperate and serve a team of workers Such a robotic system achieves high productivity, lower cost and lower soil compaction which will make the production and operations more sustainable. Developing a robotic system as a mobile base platform is required to augment and automate tasks in agriculture. The design process includes the mechanical, electronics and control system design
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