Kinematic Analysis of a Screw Wheeled Omnidirectional Mobile Robot

Authors

  • M.J.A. Safar School of Mechatronic Engineering, Universiti Malaysia Perlis, Pauh Putra Campus, 02600 Arau, Perlis
  • Y. Chandradekaran School of Mechatronic Engineering, Universiti Malaysia Perlis, Pauh Putra Campus, 02600 Arau, Perlis
  • S.N. Basah School of Mechatronic Engineering, Universiti Malaysia Perlis, Pauh Putra Campus, 02600 Arau, Perlis
  • K.S. Basaruddin School of Mechatronic Engineering, Universiti Malaysia Perlis, Pauh Putra Campus, 02600 Arau, Perlis
  • M.S.M. Hashim School of Mechatronic Engineering, Universiti Malaysia Perlis, Pauh Putra Campus, 02600 Arau, Perlis

Keywords:

Holonomic, Kinematics, Mobile Robot, Omnidirectional, Screw Wheels,

Abstract

This paper presents a study of an omnidirectional mobile robot based on a screw wheels mechanism. A concept design of an omnidirectional mobile robot propelled by four screw wheels approach is introduced. The forward and inverse kinematics equations for the proposed screw wheeled omnidirectional mobile robot are derived and verified via simulation. The results show the effectiveness of both forward and inverse kinematics to deliver 3-DOF omnidirectional movements.

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Published

2018-05-30

How to Cite

Safar, M., Chandradekaran, Y., Basah, S., Basaruddin, K., & Hashim, M. (2018). Kinematic Analysis of a Screw Wheeled Omnidirectional Mobile Robot. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(1-15), 111–115. Retrieved from https://jtec.utem.edu.my/jtec/article/view/4056

Issue

Vol. 10 No. 1-15: Exploring Man-Machines Compliance in Robotics and Image Processing

Section

Articles

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