Abstract
Robots are machines being extensively used in various domains, in some cases replacing human effort. One of the challenges that are prevalent when it comes to the structural build of the robot is the mobility, that is defined by the ease with which the robot can navigate in rough terrains, industrial applications and dynamic environments. This problem can be solved by employing the concept of holonomic robots, wherein the controllable degrees of freedom is equivalent to the total degrees of freedom. This paper proposes one such structural design of an Omni-Directional robot, whose wheels can freely move in any direction. They can move like general wheels or can move sideways along its circumference. The design makes use of Swerve Drive which allows the robot to move in all the directions by just pointing the wheels in that particular way. Rotation is attained by tilting the wheels to 45° from the line of axis. Also, this design aims to develop the Omni-Directional robot as an autonomous robot. The Omni-Directional drive mechanism proves to be very helpful in challenging situations as it offers very good mobility.
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