DESIGN OF A DIFFERENTIAL DRIVE MOBILE ROBOT PLATFORM FOR USE IN CONSTRAINED ENVIRONMENTS
Main Article Content
Abstract
Mobile robotics is a growing trend in recent years as mobile robots are being used in service as well as industrial sectors. This paper introduces a novel design of a mobile robot platform for use in constrained workplaces. The constrained environments are nothing but congested places, for example hospitals, warehouses, offices, shop floors where various equipments and machineries are to be arranged in small areas. For robots mobility in such places, various methods are being used such as differential drive system, Omni-directional mobility etc. This paper presents the design of mobile robotic platform with application of the differential drive system for enhancing mobility of the robotic platform. The 3-D Model of mobile robot is prepared in CAD software CATIA V5R19. The shape of the robot is selected as rectangular, with two driving wheels and two caster wheels. The driving wheels are located at the front side of the robot, which helps the robot to drive on to the slope. Two caster wheels are attached at the back side of the robot for stability purpose. In this robotic platform, the two driving wheels are driven by using independent motors, for forward, backward as well as rotational motion. This designed and developed robotic platform has the capability to implement algorithms for path planning, path control, dynamic steering, obstacle avoidance, position control, image recognition etc.
Downloads
Article Details
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0 DEED).
You are free to:
- Share — copy and redistribute the material in any medium or format
- The licensor cannot revoke these freedoms as long as you follow the license terms.
Under the following terms:
- Attribution — You must give appropriate credit , provide a link to the license, and indicate if changes were made . You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
- NonCommercial — You may not use the material for commercial purposes .
- NoDerivatives — If you remix, transform, or build upon the material, you may not distribute the modified material.
- No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
Notices:
You do not have to comply with the license for elements of the material in the public domain or where your use is permitted by an applicable exception or limitation .
No warranties are given. The license may not give you all of the permissions necessary for your intended use. For example, other rights such as publicity, privacy, or moral rights may limit how you use the material.
Rights of Authors
Authors retain the following rights:
1. Copyright and other proprietary rights relating to the article, such as patent rights,
2. the right to use the substance of the article in future works, including lectures and books,
3. the right to reproduce the article for own purposes, provided the copies are not offered for sale,
4. the right to self-archive the article.