Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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A Study of Robot Platform Based on WiFi Remote Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.418.20 ◽

2013 ◽

Vol 418 ◽

pp. 20-24

Author(s):

Yu Zhen Yang ◽

Chang Sheng Ai ◽

Kevin Lee

Keyword(s):

Remote Control ◽

Mobile Robot ◽

Real Time ◽

Data Communication ◽

Wheel Drive ◽

Control Terminal ◽

Four Wheel Drive ◽

And Control ◽

Network Camera ◽

Robot Platform

In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

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Dynamics of the mobile platform with four wheel drive

MATEC Web of Conferences ◽

10.1051/matecconf/201925403006 ◽

2019 ◽

Vol 254 ◽

pp. 03006

Author(s):

Anna Jaskot ◽

Bogdan Posiadała

Keyword(s):

Theoretical Model ◽

Mobile Platform ◽

Kutta Method ◽

Friction Forces ◽

Runge Kutta Method ◽

Wheel Drive ◽

Motion Parameters ◽

Simulation Results ◽

Four Wheel Drive ◽

Unsteady Conditions

The dynamics problem of motion of the mobile platform with four wheel drive under the unsteady conditions have been formulated and analysed. The mobile platform prototype have been equipped with four independently driven and steered electric drive units.The theoretical model have been formed for the proposed design concept of the platform. The relations between friction forces in longitudinal and transverse directions in reference to the active forces have been considered. The analysis of the motion parameters for different configurations of the wheel positions has been included. The formulated initial problem has been numerically solved by using the Runge-Kutta method of the fourth order. The sample simulation results for different configurations of the platform elements during its motion have been included and the conclusions have been formulated.

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Structure Design and Analysis of Rescue Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.190-191.729 ◽

2012 ◽

Vol 190-191 ◽

pp. 729-732

Author(s):

Hong Cheng ◽

Hong Chao Fan ◽

Hai Fei Lin ◽

Cong Li ◽

Yu Peng Mao ◽

...

Keyword(s):

Mechanical Design ◽

Structure Design ◽

Zhejiang Province ◽

Rescue Work ◽

Rescue Robot ◽

Wheel Drive ◽

Wide Range ◽

Design Competition ◽

Four Wheel Drive ◽

And Control

It becomes the urgent and necessary to the development about wide range of manufacturing a multi-functional and human intelligence rescue robots because of difficulty of rescuing the wounded person in a disaster such as earthquakes and other disasters. A rescue robot prototype has been designed, assembled and commissioned based on the rescue mission and rescue needs of the students in Zhejiang Province mechanical design contest. The rescue robot is able to implement going through the tunnel and the bridge, removing the rescue objectives and other actions tasks. The rescue robot has a structure of four-wheel drive, variable center distance which can improve the ability of walking on the bridge and grabbing the rescue target by suction cups to complete the contest tasks. Experiment verified that the design of actuators and control system is reasonable. It took a total of 1 minute 18 seconds to complete the rescue work in Zhejiang Province mechanical design competition.

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Speed and Direction Angle Control of Four Wheel Drive Skid-Steered Mobile Robot by Using Fractional Order PI Controller

Elektronika ir Elektrotechnika ◽

10.5755/j01.eie.22.5.16337 ◽

2016 ◽

Vol 22 (5) ◽

Cited By ~ 1

Author(s):

Adnan Derdiyok ◽

Kamil Orman ◽

Abdullah Basci

Keyword(s):

Mobile Robot ◽

Fractional Order ◽

Pi Controller ◽

Direction Angle ◽

Wheel Drive ◽

Fractional Order Pi Controller ◽

Four Wheel Drive

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Differential Steering Control for 6 × 6 Wheel-drive Mobile Robot

10.23919/icac50006.2021.9594210 ◽

2021 ◽

Author(s):

Hongqiang Zhao ◽

Chao Luo ◽

Yongkang Xu ◽

Jiehao Li

Keyword(s):

Mobile Robot ◽

Steering Control ◽

Wheel Drive ◽

Differential Steering

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Research on individual wheel drive and control of mobile robot at bent pipeline

EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696) ◽

10.1109/etfa.2003.1248726 ◽

2004 ◽

Author(s):

Xiaohua Zhang ◽

Hongjun Chen

Keyword(s):

Mobile Robot ◽

Wheel Drive ◽

Drive And Control ◽

And Control

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Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2007.p0264 ◽

2007 ◽

Vol 19 (3) ◽

pp. 264-271 ◽

Cited By ~ 7

Author(s):

Masayoshi Wada ◽

Keyword(s):

Power Transmission ◽

Large Diameter ◽

Vertical Axis ◽

Mobile Platform ◽

Drive Mechanism ◽

Wheel Drive ◽

Omnidirectional Control ◽

Reliable Mechanism ◽

Four Wheel Drive ◽

Mobile Base

This paper presents a new type of omnidirectional and holonomic mobile platform with a four-wheel-drive (4WD) mechanism for improving traction of electric wheelchairs on slippery surfaces and enhancing mobility on rough terrain. The 4WD mechanism includes a pair of normal wheels on the back and a pair of omniwheels on the front. The normal wheel in back and the omniwheel in front, on the same side of the drive mechanism, are connected by a power transmission to rotate in unison with a common motor. Omniwheels enable the front of the mechanism to roll freely from side to side. A third motor turns the chair about a vertical axis at the center of the mobile platform. One goal of this project is to apply the 4WD mechanism to a holonomic omnidirectional mobile base for wheelchairs to enhance both maneuverability and mobility in single wheelchair design. The 4WD mechanism guarantees traction on irregular surfaces and enhances step climbing over that of standard wheelchairs because all wheels have a large diameter and no passive casters are used. For omnidirectional control of the 4WD mobile base, two wheel motors are coordinated to move the center of the chair in an arbitrary direction while chair orientation is controlled separately by the third motor. The three motors thus provide nonredundant 3DOF chair movement. A wheelchair with our proposed mobile base moves in all directions without changing chair orientation and turns in place, i.e., holonomic. The configuration minimizing number of motors cuts costs and ensures a high reliable mechanism. We analyze the kinematics of planar motion and statics on the wheel step of the synchronized 4WD, then discuss the development of omnidirectional 4WD control. A series of experiments using a small robotic vehicle verifies kinematic and static models and the feasibility of the 4WD omnidirectional system proposed.

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