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Erschienen in:
2021 | OriginalPaper | Buchkapitel
Design and Control of Mobile Robots with Two and Four Independent Rotatable Power Wheels
verfasst von : Divyansh Khare, Kausadikar Varad Prashant, Santhakumar Mohan
Erschienen in: Advances in Industrial Machines and Mechanisms
Verlag: Springer Singapore
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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.