Design and Analysis of an Omni-Directional Mobile Robot with Orthogonal Wheel

Abstract:

Article Preview

This study presents the processes undertaken in the design and implementation of an omni-directional mobile robot using orthogonal wheels. The orthogonal wheel developed consists of ten rollers, achieves not only forward, reverse, left slide, right slide, but also rotation in situ. The mobile robot consists of four orthogonal wheels which independently powered by brushless DC motors. A DC industrial motherboard is adopted in the main controller, which constitutes a NMT network with the communication ports of four motor drivers by an extended CAN card. In the NMT network, the host computer is the CAN node master, and each motor driver is the CAN node slave. The host computer controls each motor’s movement, and reads the motor’s current, position and speed information through the NMT network in real-time. The experiment shows that the mobile robot can achieve omni-directional movement.

Info:

Periodical:

Edited by:

Xingui He, Ertian Hua, Yun Lin and Xiaozhu Liu

Pages:

60-64

DOI:

10.4028/www.scientific.net/AMM.88-89.60

Citation:

W. H. Zhou et al., "Design and Analysis of an Omni-Directional Mobile Robot with Orthogonal Wheel", Applied Mechanics and Materials, Vols. 88-89, pp. 60-64, 2011

Online since:

August 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.