DefinePK

Abstract

This paper describes a four wheeled, Square Structured Omni Directional Mobile Robot (SSODMR). The design, different motion analysis and prototype of SSODMR is fabricated. In this research, the Omni Directional wheel consists of eight rollers in a single row, which has been arranged over the circumference of the wheel. This SSODMR can move in all eight directions without steering its wheel. In addition, it can also make clockwise and anti-clockwise rotations. It consists of four Omni Directional Wheels, fixed with 12 V, 30 rpm D/C motors. A Square structured chassis holds the motors and they are manually controlled by DPDT switches. The motion analysis has been practically done on a cement floor. The deviation from the desired path has been measured and hence the mobility of SSODMR has been practically analyzed.