A design of Omni-Directional for Mobile Robot
Organized by Kolej Universiti kejuruteraan Utara Malaysia (KUKUM), 15th June 2006 at DKG 4 & DKG 5, Kubang Gajah, Arau, Perlis.
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Kolej Universiti Kejuruteraan Utara Malaysia
2009
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my.unimap-71452009-09-04T03:14:25Z A design of Omni-Directional for Mobile Robot Jefri Efendi, Mohd Salih Mohamedd Rizon, Mohamed Juhari Sazali, Yaacob Abdul Hamid, Adom Omni-directional mobile robot Mobile robot Robots -- Design and construction Robotics Organized by Kolej Universiti kejuruteraan Utara Malaysia (KUKUM), 15th June 2006 at DKG 4 & DKG 5, Kubang Gajah, Arau, Perlis. This paper 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 aluminium frame. A four channel high power H-bridge using two units of LMD 18200 motor drivers IC circuit was design, built and interfaced to a BasicStamp (BS2) microcontroller board. Basic mobility algorithm using BasicStamp software was developed to test the basic mobility capabilities and test the qualitative view of the system’s mobility performance. An experiment was set-up to analyze the motion characteristic of the mobile robot motion in Y-axis, X-axis and rotary motion. Data from the experiment will be used for mathematically model for mobile robot platform and speed controller modelling and design. Mecanum wheel mobile robot provides a convenient platform for further development in the mobile platform. The combination of mechanical design on the wheel and chassis, motion control and multiple input/output sensors allow the exploration of large number of control algorithm and software to be implemented to the robot for practical applications. 2009-09-04T03:14:25Z 2009-09-04T03:14:25Z 2006-06-15 Working Paper p.11-18 http://hdl.handle.net/123456789/7145 en KUKUM Engineering Research Seminar 2006 Kolej Universiti Kejuruteraan Utara Malaysia |
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Universiti Malaysia Perlis |
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Malaysia |
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http://dspace.unimap.edu.my/ |
| language |
English |
| topic |
Omni-directional mobile robot Mobile robot Robots -- Design and construction Robotics |
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Omni-directional mobile robot Mobile robot Robots -- Design and construction Robotics Jefri Efendi, Mohd Salih Mohamedd Rizon, Mohamed Juhari Sazali, Yaacob Abdul Hamid, Adom A design of Omni-Directional for Mobile Robot |
| description |
Organized by Kolej Universiti kejuruteraan Utara Malaysia (KUKUM), 15th June 2006 at DKG 4 & DKG 5, Kubang Gajah, Arau, Perlis. |
| format |
Working Paper |
| author |
Jefri Efendi, Mohd Salih Mohamedd Rizon, Mohamed Juhari Sazali, Yaacob Abdul Hamid, Adom |
| author_facet |
Jefri Efendi, Mohd Salih Mohamedd Rizon, Mohamed Juhari Sazali, Yaacob Abdul Hamid, Adom |
| author_sort |
Jefri Efendi, Mohd Salih |
| title |
A design of Omni-Directional for Mobile Robot |
| title_short |
A design of Omni-Directional for Mobile Robot |
| title_full |
A design of Omni-Directional for Mobile Robot |
| title_fullStr |
A design of Omni-Directional for Mobile Robot |
| title_full_unstemmed |
A design of Omni-Directional for Mobile Robot |
| title_sort |
design of omni-directional for mobile robot |
| publisher |
Kolej Universiti Kejuruteraan Utara Malaysia |
| publishDate |
2009 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/7145 |
| _version_ |
1643788702161305600 |
| score |
13.222552 |