The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot-An Experimental Analysis

Abstract

A four-wheeled Omni Directional Robot may travel in any direction without turning its wheels. In this research work, four Omni-directional wheels have been placed at 90°. This four-wheeled, omnidirectional mobile robot appears to be a square design from the top view, with its wheel axes at 90 degrees. Power is given to the front wheel using a DC motor and that wheel alone will rotate. All other three wheels (Right, Left and Back) are kept in neutral positions. These wheels can move based on the front wheel’s rotation. No power given to these wheels. Three different practical analyses have been done. In this first experimental analysis, the back wheel is kept as an Omni direction wheel. In this Second experimental analysis, the back wheel is kept as a Roller wheel. In this Third experimental analysis, the back wheels are removed and the other three wheels are kept and analysis is done. The importance of the back wheel in the four-wheeled Omni Directional Robot is demonstrated in this research work.