Conceptual design of tetrad-screw propelled omnidirectional all-terrain mobile robot
- Resource Type
- Authors
- Vishal Ramadoss; Matteo Zoppi; Rezia Molfino; Jesus H. Lugo
- Source
- Subject
- Engineering
Control and Optimization
business.industry
Tetrad-screw
Mechanical Engineering
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Control engineering
Mobile robot
Terrain
Kinematics
Solid modeling
All-terrain
Omnidirectional
Artificial Intelligence
Control and Systems Engineering
law.invention
Conceptual design
law
Mecanum wheel
Robot
Omnidirectional antenna
business
Simulation
ComputingMethodologies_COMPUTERGRAPHICS
- Language
- English
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.