Abstract
In recent years, the efficient mobility of omnidirectional mobile robots is desired in the logistics industry. Hence, various types of rollers are installed in mobile robots. These include omnidirectional rollers, which are characterized with excellent omnidirectional mobility and are considered easy to control. Herein, considering that the side surface of the mechanism is circular, the kinematics of the mechanism assuming an arbitrary arrangement on this circle is derived. Previous research has evaluated the roller arrangement from the perspective of the speed efficiency of the drive roller. Meanwhile, this research focuses on a mobile robot equipped with three omni-rollers. Furthermore, focusing only on the translational speed of the robot, its motion efficiency is evaluated. The distribution of the robot’s translational speed is studied, the area of the region is used as the evaluation function, and its behaviors are analyzed.
https://ror.org/03qhht705 
