Nowadays there is a growing tendency for fast and efficient transport systems in everyday tasks as well as in industry. In this view, autonomous transport systems are preferred, especially if they are able to move independent of their position. This can be achieved through the use of omni-drive, which can provide movement in any direction, without changing the position of the system, and a zero turn when in rotating movement. The system works by transmitting torque on each wheel in the same direction and in the same way as in the conventional wheel, but it also has the ability to move freely in other directions (usually, and in our case, perpendicular to the direction of the torque vector).
Several types of omni-drives, their layouts and comparisons of movements with theoretically supported calculations are presented in this final paper. A kinematic and dynamic analysis of mobile robots with different numbers of wheels are made. As the result of experimental work, a robot with listed specifications has been made.
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