Kinematic modeling of an omnidirectional reconfigurable screw-propelled mobile robot

The focus of this article is the design and development of a novel multipurpose omnidirectional modular all-terrain mobile robot. The locomotion is achieved by means of multiple screws and can bear a wider variety of terrain than ordinary robot using a logical combination of the angular speeds of each screw. The kinematic model of the proposed robot is described in detail and CAD models were generated. Simulations of a trajectory tracking control were performed to test the proposed robotic architecture.