Year: 2021
Type: article
Abstract: This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.
Source: Applied Sciences
DOI: 10.3390/app112411778
Authors: Mateusz Fiedeń, Jacek Bałchanowski
Institution: Wrocław University of Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,160
Funder: Politechnika Wrocławska
Award: G3923800316
OpenAlex ID: W4200285801