Published 2017 | Version v1
Publication

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

Description

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.

Additional details

Identifiers

URL
http://hdl.handle.net/11567/934235
URN
urn:oai:iris.unige.it:11567/934235