Design of Chassis and Kinematics Research of Wheeled Robot

Abstract

In the development of restaurants, reducing costs and increasing efficiency have become an important direction. The wheeled robot can meet the needs of the restaurant in the process of delivering food, ordering food, etc., and can replace part of the labor, so that the restaurant reduces costs and increases efficiency. The wheeled robot chassis adopts Mecanum wheels as rotating wheels, enabling the robot to move linearly and rotationally in 360 degrees in the plane to meet the environmental requirements in the restaurant. In this paper, a chassis structure of a wheeled robot is designed and its kinematics model is established, and the chassis model in myrio also is established. Which lays the foundation for the next dynamic analysis and trajectory planning.