Mobility Performance Analysis of Mobile Robot Wheels

Abstract

Robotics is an interesting and rapidly developing field with many applications that extend from robot manipulators to mobile robots. This study focus on analysis a variety of mobile robot wheels based on their sizes, shapes, types of motion and properties. One of the most important parts of a mobile robot is the wheel. The use of wheels is the most well-known method of providing mobility to robots and propelling many different-sized robots and automatic platforms. Wheels can be any size-from fractions of an inch to 12 inches. Robots can have any number of wheels, with most mobile robots having three or four wheels. However, only a few studies have examined the dynamics of mobile robot wheels, as well as the time constant of the motor of mobile robot wheels. The dynamics of the mobile robot is examined and the time constant of two motors, which affects the direction of mobile robot motion, is controlled in this research. The results demonstrate that the mobile robot moves successfully from one location to another with a variety of speeds, directions and load on wheel’s motors.