Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Mobile Performance Evaluation of Mecanum Wheeled Omni-directional Mobile Robot

메카넘휠 기반의 전방향 이동로봇 주행성능 평가

  • Chu, Baeksuk (Department of Intelligent Mechanical Engineering, Kumoh National Institute of Technology) ;
  • Sung, Young Whee (School of Electronic Engineering, Kumoh National Institute of Technology)
  • Received : 2014.06.30
  • Accepted : 2014.07.26
  • Published : 2014.08.15
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Abstract

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

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References

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Cited by

  1. Position compensation algorithm for omnidirectional mobile robots and its experimental evaluation vol.18, pp.12, 2017, https://doi.org/10.1007/s12541-017-0204-3
  2. Slip Analysis and Experimental Verification for an Omni-Directional Mobile Robot based on Mecanum Wheels vol.37, pp.1, 2014, https://doi.org/10.7736/jkspe.019.082
  3. Mobile Robot Overcoming Narrow Space Using Negative Poisson’s Ratio vol.38, pp.7, 2014, https://doi.org/10.7736/jkspe.021.024