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Two Degree-Of-Freedom Omni-Wheel Based Mobile Robot Platform for Translatory Motion

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Advances in Industrial Machines and Mechanisms

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Mobile wheeled robots are used for various applications such as moving payload from one place to another. In many instances, the orientation of the robotic platform does not change and hence for those applications, it is desired to have platforms that just have translational degrees-of-freedom and do not have a rotation about the vertical axis (yaw rotation). In this paper, the authors propose two architectures of the platform that have two active and two passive wheels. Simulation in V-REP software was carried out and physical prototypes were developed and tested to validate the effectiveness of the proposed platforms. One of the proposed designs fits perfectly for a pure translation mobile platform.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Amrita School of Engineering, Amrita Vishwa Vidyapeetham, Bengaluru, India

    Uday Manne, Raghuveer Maddi, Dimple Dannana, Devasena Pasupuleti & Rajeevlochana G. Chittawadigi

Authors
  1. Uday Manne
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  2. Raghuveer Maddi
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  3. Dimple Dannana
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  4. Devasena Pasupuleti
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  5. Rajeevlochana G. Chittawadigi
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Corresponding author

Correspondence to Rajeevlochana G. Chittawadigi .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Birla Institute of Technology and Science, Pilani-Hyderabad Campus, Hyderabad, Telangana, India

    Y. V. D. Rao

  2. Department of Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India

    C. Amarnath

  3. Department of Mechanical Engineering, Birla Institute of Technology and Science, Pilani-Hyderabad Campus, Hyderabad, Telangana, India

    Srinivasa Prakash Regalla

  4. Department of Mechanical Engineering, Birla Institute of Technology and Science, Pilani-Hyderabad Campus, Hyderabad, Telangana, India

    Arshad Javed

  5. Department of Mechanical Engineering, Birla Institute of Technology and Science, Pilani-Hyderabad Campus, Hyderabad, Telangana, India

    Kundan Kumar Singh

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© 2021 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Manne, U., Maddi, R., Dannana, D., Pasupuleti, D., Chittawadigi, R.G. (2021). Two Degree-Of-Freedom Omni-Wheel Based Mobile Robot Platform for Translatory Motion. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_12

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  • DOI: https://doi.org/10.1007/978-981-16-1769-0_12

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-1768-3

  • Online ISBN: 978-981-16-1769-0

  • eBook Packages: EngineeringEngineering (R0)

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