Structures of the Omnidirectional Robots with Swedish Wheels

Tătar, Mihai Olimpiu; Cirebea, Claudiu; Mândru, Dan

doi:10.4028/www.scientific.net/ssp.198.132

Cited by 10 publications

(6 citation statements)

References 9 publications

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“…If the rollers are placed on the circumference of the wheel with with respect to the base axis, the wheels are called Mecanum wheels. If they are aligned by 0°, the wheels are called universal wheels [15,[27][28][29]. The Figure 13 shows the omnidirectional wheels.…”

Section: Omnidirectional Wheelsmentioning

confidence: 99%

Review of mobile robots obstacle avoidance, localization, motion planning, and wheels

Mhawesh

Al-Tameemi

Neda³

2020

IJEECS

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<span>The main objective of this research is to study the obstacle avoidance, Monte Carlo Localization (MCL) method, motion planning in dynamic networks for mobile robots, and mobile robots wheels depending on the previous published researches. The researchers had done their experiments on different mobile robots and had validated them. This research helps the readers to learn how the robot changes its directions to prevent itself from collisions depending on three ultrasonic sensors. Also, they will learn the localization of the mobile robots depending on the recorded data from RHINO and MINERVA robots. In addition to learning the obstacle avoiding and the localization of mobile robots, the readers will learn new planning framework. Furthermore, they will get knowledge in types of mobile robots wheels.</span>

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Section: Omnidirectional Wheelsmentioning

confidence: 99%

Review of mobile robots obstacle avoidance, localization, motion planning, and wheels

Mhawesh

Al-Tameemi

Neda³

2020

IJEECS

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“…The 3D model of the robo pictures of the developed proto a OMNIDIRECTIONAL ROBOT ctional robot presented in this shaped platform, with two Te ends [13], [14]. r geared DC motors.…”

Section: The Developed Omentioning

confidence: 99%

“…Using the above given equations we can find out the position, direction of motion (13) and resultant velocity (14) of the omni-directional robot with Mecanum wheel.…”

Section: The Developed Omentioning

confidence: 99%

Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

Tătar

Popovici

Mândru

et al. 2014

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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“…The easiest one is to use an omnidirectional wheel designed with small rollers that are joined to create a giant wheel that can move in any direction without slipping. Tȃtar et al [5] presents multiple structures of these mobile robots. Another low-cost mobile robot can navigate outdoors autonomously using a GPS and a transceiver module to exchange information with other robots and a central station; this robot can perform tasks by itself or in swarm formation [6].…”

Section: Introductionmentioning

confidence: 99%

Design, Assembly and Control of a Differential/Omnidirectional Mobile Robot through Additive Manufacturing

Padilla-García,

Cruz-Morales,

González-Sierra

et al. 2024

Machines

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Although additive manufacturing is a relatively new technology, it has been widely accepted by industry and academia due to the wide variety of prototypes that can be built. Furthermore, using mobile robots to carry out different tasks allows greater flexibility than using manipulator robots. In that sense, and based on those above, this article focuses on the design and assembly of a multi-configurable mobile robot that is capable of changing from a differential to an omnidirectional configuration. For this purpose, a sequential mechatronic design/control methodology was implemented to obtain an affordable platform via additive manufacturing which is easily scalable and allows the user to change from one configuration to another. As a proof of concept, this change is made manually. Fabrication, construction, and assembly processes for both structures are presented. Then, a hierarchical control law is designed. In this sense and based on Lyapunov’s method, a low-level controller is developed to control the angular speed of the wheels to a desired angular speed, and a medium-level controller controls the robot’s attitude to follow a desired Cartesian trajectory. Finally, the control strategies are implemented in both prototype configurations, and through experimental results, the theoretical analysis and the construction of the mobile robot are validated.

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Structures of the Omnidirectional Robots with Swedish Wheels

Abstract: In the first part of the paper, specific aspects concerning the omnidirecional Mecanum wheels are presented, while the second part is dedicated to the presentation of two prototypes of omnidirectional robots, equipped with omnidirectional Swedish wheels.

Cited by 10 publications

References 9 publications

Review of mobile robots obstacle avoidance, localization, motion planning, and wheels

Review of mobile robots obstacle avoidance, localization, motion planning, and wheels

Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

Design, Assembly and Control of a Differential/Omnidirectional Mobile Robot through Additive Manufacturing

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