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Design and Control of Mobile Robots with Two and Four Independent Rotatable Power Wheels
D. Khare, K.V. Prashant,
Published in Springer Science and Business Media Deutschland GmbH
Pages: 149 - 160
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. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About the journal
JournalData powered by TypesetLecture Notes in Mechanical Engineering
PublisherData powered by TypesetSpringer Science and Business Media Deutschland GmbH