Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks
1 Department of Mechanical Engineering, Trinity College of Engineering and Research, Pune, India.
2 Department of Electronics and Telecommunication Engineering, Padre Conceicao College of Engineering, Verna Goa, India.
3 Department of Mechanical Engineering, Marathwada Mitra Mandal's College of Engineering, Pune, India.
4 Department of Electronics and Communication Engineering, Panimalar Engineering College, Chennai, India.
Research Article
Global Journal of Engineering and Technology Advances, 2023, 17(01), 045–054.
Article DOI: 10.30574/gjeta.2023.17.1.0202
Publication history:
Received on 25 August 2023; revised on 02 October 2023; accepted on 05 October 2023
Abstract:
Mobile manipulator robots are increasingly vital in industrial and service sectors, serving roles in assembly, inspection, and hazardous environments. The integration of a manipulator with a mobile robot base imposes unique demands on the vehicle's drive system. This paper introduces a three-wheel holonomic omnidirectional robot designed for mobile applications. It explores kinematic equations, electronic integration, and mechanical design for holonomic motion. This platform excels in mobility, capable of simultaneous translation and rotation, facilitating precise multidirectional motion. Its equilateral truncated triangular structure ensures stability, supporting up to 4 kg. With three omnidirectional wheels and DC motors, controlled by EMS 30A H-Bridge and Arduino Mega 2560, it offers an open platform for research and development. This robust platform aligns kinematic calculations with mathematical models, promising efficiency for diverse mobile manipulation robot applications.
Keywords:
Mobile Manipulator robot; Holonomic; Omnidirectional wheels; Kinematic Equation; H-Bridge; Arduino Mega
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Copyright © 2023 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution Liscense 4.0