This paper is focused on the development of a novel design of omnidirectional all-terrain mobile robot. The locomotion is achieved by screw propulsion and can handle a wider variety of terrain than ordinary robot using a logical combination of the angular speeds of each screw. A kinematic model of the proposed robot is analyzed and CAD models were designed. A comparative study with mecanum wheel based omnidirectional mobile robots and proposed design was carried out. Based on the kinematic model, a prototype of mobile robot with tetrad-screw configuration were designed and built to verify the proposed system.

Conceptual design of tetrad-screw propelled omnidirectional all-terrain mobile robot

Lugo, Jesus H.;Ramadoss, Vishal;Zoppi, Matteo;Molfino, Rezia
2017-01-01

Abstract

This paper is focused on the development of a novel design of omnidirectional all-terrain mobile robot. The locomotion is achieved by screw propulsion and can handle a wider variety of terrain than ordinary robot using a logical combination of the angular speeds of each screw. A kinematic model of the proposed robot is analyzed and CAD models were designed. A comparative study with mecanum wheel based omnidirectional mobile robots and proposed design was carried out. Based on the kinematic model, a prototype of mobile robot with tetrad-screw configuration were designed and built to verify the proposed system.
2017
9781509037735
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/934235
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 9
  • ???jsp.display-item.citation.isi??? 4
social impact