Mechanical and electrical design about a mecanum wheeled omni-directional mobile robot

Abstract

This research deals with design of an omni-directional mobile robot based on Mecanum wheels in mechanical and electrical aspects. To enable immediate motion to any desired directions, so called omni-directionality, a special type of wheel, whose name is Mecanum wheel, is employed. The platform of the suggested mobile robot has conventional squared structure. A stand-alone embedded real-time processor is used for electrical design. In order to make omni-directional motion of the mobile robot, an operator generates a driving signal by adjusting the tilting angle of a joystick. Distance sensors installed around the mobile robot give an ability to recognize environmental situation.