Robotic Assistant for Medicine and Food Delivery in Healthcare

Abstract

This paper presents the use of a three-wheel holonomic motion drive system for medicine and food delivery to patients in hospitals. The mechanical design of the holonomic drive is discussed along with the control system used for the robot. The inverse kinematic model of the three-wheel omni drive is analyzed and used for programming the navigation system. This paper analyzes the use of a gyroscope in robot heading and position control. Along with gyroscopes, the use of rotary encoders is also discussed. The encoders are used to keep track of the position of the robot while navigating. Due to the COVID-19 pandemic, mobile robots gained high demand. These robots are used to supply medicines and food to patients and staff, medical equipment required by doctors and nurses, thereby optimizing communication between doctors, hospital staff members and patients and reducing the contact between healthcare staff and patients which is useful in preventing the spread of diseases through direct contact.