Design of a functional model of a three-wheeled mobile robot

Abstract

Mobile wheeled robots are one of the most widespread group of service robots today. The simplicity of their design and their ability to better negotiate difficult terrain places them at the forefront. In practice, it is possible to find a variety of mobile wheeled robots, which differ from each other in the number and arrangement of wheels, the variety of structural design, or the suspension of the wheels and their suspension. Current statistics confirm that mobile service robots on wheeled chassis are the most numerous design of all realized applications, technical practice has filled with the diversity of their design solutions. The diversity of wheeled mobile service robots is mainly in the design of the wheeled chassis, the solutions range from single-wheeled to multi-wheeled concepts, from simple variants of the chassis layout to special or combined systems. The purpose of the article is the design of a three-wheeled robot, which will include the derivation of a mathematical model, the construction of a simulation model and the creation of a model in CAD software. An important part of the robot analysis is a complete kinematic model of the mechanical system, which provides all the necessary kinematic quantities for both the dynamic model of the mechanical system (force application, link loading, sizing) and for control needs (synthesis of position and velocity controllers). It is mainly about the position and orientation of the end working point in time and the corresponding position of the individual links of the mechanism. The next step was the overall design of the electronic system by appropriately selecting the electronic components and also creating the overall electronic circuitry. Finally, an experimental realistic model of the mobile robot was created from the simulation results.