Abstract
This paper analyses two kinds of models for Mobile robots having two and four independently rotatable power wheel configurations, respectively. Both the models were analysed for performance based on mechanical design and kinematic control aspects. A scissors mechanism was employed on the robots to equip them with weight lifting capabilities which are controlled by a linear actuator. The robot can be used for various purposes including inventory management, shop-floor assistance and warehouse automation. In the end, a simple computed velocity control kinematic model was developed for both the models and results were compared.
The work has been supported by ‘Ministry of Electronics and Information Technology, Government of India’.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Reference
Mishra, S., Sharma, M., Mohan, S.: Behavioural fault-tolerant-control of an omni-directional mobile robot with four-mecanum wheels. Defence Sci. J. 69(4), 353–360 (2019). https://doi.org/10.14429/dsj.69.13607
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Khare, D., Prashant, K.V., Mohan, S. (2021). Design and Control of Mobile Robots with Two and Four Independent Rotatable Power Wheels. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_14
Download citation
DOI: https://doi.org/10.1007/978-981-16-1769-0_14
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-1768-3
Online ISBN: 978-981-16-1769-0
eBook Packages: EngineeringEngineering (R0)