Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels
Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2016/7612945 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832561912835997696 |
|---|---|
| author | A. P. Mohanraj A. Elango Mutra Chanakya Reddy |
| author_facet | A. P. Mohanraj A. Elango Mutra Chanakya Reddy |
| author_sort | A. P. Mohanraj |
| collection | DOAJ |
| description | Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot’s chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations. |
| format | Article |
| id | doaj-art-60dac5cbd673425b91dcb67293d4af3b |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-60dac5cbd673425b91dcb67293d4af3b2025-02-03T01:23:51ZengWileyThe Scientific World Journal2356-61401537-744X2016-01-01201610.1155/2016/76129457612945Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected WheelsA. P. Mohanraj0A. Elango1Mutra Chanakya Reddy2School of Mechanical Engineering, SASTRA University, Thanjavur, Tamil Nadu 613401, IndiaDepartment of Mechanical Engineering, ACCET, Karaikudi, Tamil Nadu 630004, IndiaSchool of Mechanical Engineering, SASTRA University, Thanjavur, Tamil Nadu 613401, IndiaOmnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot’s chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations.http://dx.doi.org/10.1155/2016/7612945 |
| spellingShingle | A. P. Mohanraj A. Elango Mutra Chanakya Reddy Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels The Scientific World Journal |
| title | Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels |
| title_full | Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels |
| title_fullStr | Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels |
| title_full_unstemmed | Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels |
| title_short | Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels |
| title_sort | front and back movement analysis of a triangle structured three wheeled omnidirectional mobile robot by varying the angles between two selected wheels |
| url | http://dx.doi.org/10.1155/2016/7612945 |
| work_keys_str_mv | AT apmohanraj frontandbackmovementanalysisofatrianglestructuredthreewheeledomnidirectionalmobilerobotbyvaryingtheanglesbetweentwoselectedwheels AT aelango frontandbackmovementanalysisofatrianglestructuredthreewheeledomnidirectionalmobilerobotbyvaryingtheanglesbetweentwoselectedwheels AT mutrachanakyareddy frontandbackmovementanalysisofatrianglestructuredthreewheeledomnidirectionalmobilerobotbyvaryingtheanglesbetweentwoselectedwheels |