期刊名称：International Journal of Engineering and Computer Science
印刷版ISSN：2319-7242
出版年度：2013
卷号：2
期号：4
页码：1042-1045
出版社：IJECS
摘要：This study presents the processes undertaken in the design and development of an intelligent omni- directional mobile robot using four custom-made mecanum wheels. The mecanum wheel developed consists of nine rollers made from delrin. All mecanum wheels are independently powered using four units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot chassis made using an aluminum frame. A four channel high power H- bridge using 2 units of LMD 18200 motor drivers IC circuit was design, built and interfaced to a Basic Stamp(BS2)microcontroller board. Basic mobility algorithm using Basic Stamp software was developed to test the basic mobility capabilities and test the qualitative view of the
关键词：Mecanum wheel; mobile robot; microcontroller; motion This project utilized the Mecanum wheel design pioneered in 1973 by Mecanum AB‘s Bengt Ilon. Mecanum wheel is based on the principle of a central wheel with a number of rollers placed at an angle around the periphery of the wheel. The angled peripheral roller translates a portion of the force in the rotational direction of the wheel to force normal to the wheel directional. Depeon each individual wheeldirection and speed; the resulting combination of allthese forces produces A total force vector in any sireddirection thus allowing the platform to move freely in direction of resulting
