Design of a Quad Omni Wheeled Mobile Robot Using Linear Actuators

Abstract

Research in the field of robotics is currently focused on exploring areas such as the design, motion planning, and development of mobile robots. This paper introduces a new type of a quad omni-wheeled mobile robot that combines omni wheels and linear servo actuators. The proposed system can be used on flat terrains and climbing satires, using four DC motors, one servo motor, and four linear servo actuators. To demonstrate the idea, a prototype model of the four omni wheels module of the robot mechanism has been created. This innovative solution enables the proposed robot to move both vertically and horizontally without altering its orientation, ensuring greater stability and reliability of its movements. Additionally, the findings and conclusions of this study can be used for the classification of stair-climbing mechanisms. This study validates stair climbing capabilities of the device using SolidWorks™ and Matlab Simscape Multibody simulation. Based on the design and simulation, a prototype of the quad omni-wheeled mobile robot has been produced and shown to be capable of moving and climbing stairs.