Abstract
Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation of the operation of the proposed robot, based both on its kinematics and dynamics. Using these models, both the Mecanum wheel drive version and the differential drive version were studied by means of simulation. The simulations mainly aimed at identifying the way the currents vary through the wheel drive motors, in order to find methods to reduce them. The values obtained by the simulation were later compared with those obtained experimentally, and the corresponding conclusions with regard to the accuracy of the models were drawn.
Funder
Romanian Ministry of Research, Innovation and Digitization
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Reference32 articles.
1. Mišković, D., Milić, L., Čilag, A., Berisavljević, T., Gottscheber, A., and Raković, M. Implementation of Robots Integration in Scaled Laboratory Environment for Factory Automation. Appl. Sci., 2022. 12.
2. Prototype development of mecanum wheels mobile robot: A review;Abd Mutalib;Appl. Res. Smart Technol.,2020
3. Li, Y., Dai, S., Zhao, L., Yan, X., and Shi, Y. Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot. Symmetry, 2019. 11.
4. Piemngam, K., Nilkhamhang, I., and Bunnun, P. Development of Autonomous Mobile Robot Platform with Mecanum Wheels. Proceedings of the First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP).
5. Independent wheel torque control of 4WD electric vehicle for differential drive assisted steering;Wang;Mechatronics,2011
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献