Mechanism and Control of Omnidirectional Mobile Robot with Multiple Steering and Drive Wheels

Abstract

In automated factories, there are tasks that has been postponed for future mechanization, for example ”backyard tasks” and so on. Against this background, an omnidirectional mobile robot was prototyped. The robot is planned to be combined with a dual-arm robot to realize dexterous mobile manipulations. This paper focuses attention on the creation of a single steer-drive wheel unit. The unit mechanism is designed and created to be as simple as possible to be able to reduce the number and the weight of the transmission mechanism parts. In addition, two types of omnidirectional mobile robot are prototyped by combining multiple wheel units.