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Mobile Robots
One of the main areas in which the Mechatronics and Theory of Mechanisms Group conducts research and realizes projects is mobile robotics. The members of the group conduct research covering the full spectrum of issues that are part of this research area. The group has experience in the process of designing wheeled/tracked/walking/hybrid mobile robots. Starting from the kinematic structure of the robot, through the process of structural synthesis, selection of drives, design of mechanics/suspension, to the design of specialized systems increasing the movement capabilities of specific types of robots. The members of the group also have experience in practical implementation of designed mobile robots and their prototypes in the laboratory. Thanks to this, the developed mobile robots go beyond the theoretical design. The correctness of control, navigation and autonomous driving systems can be verified experimentally.
| A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research | |
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| A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research, Mateusz Fiedeń, Jacek Bałchanowski, Appl. Sci. 2021, 11(24) (CC BY 4.0) - link to the article's full version | Mateusz Fiedeń ReserachGate |
This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.