Engineering Mechanics

Proceedings Vol. 7 (2001)

INŽENÝRSKÁ MECHANIKA 2001

ENGINEERING MECHANICS 2001

Copyright © 2001 Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague

 

Knoflíček R.
pages 136 - +8p, full text

Most industrial robots are mounted on fixed base and cannot move around. Their work envelope is thus limited to the volume reached by motion of robot's joints. Hence, these robots must have their work brought to them. A mobile robot, however, can go where the work is and can transport items between fix based robots, thereby opening up many new applications areas. A transport vehicle operation in factories, hospitals and warehouses, etc. must have omni-directional properties that can move and turn freely over narrow floor space in all directions. For this they have been vehicles that use omnidirectional wheels. This thesis is drawn as construction and kinematic study of omnidirectional wheels of mobile robot. Basal acquaintance conceptions are described here up to now, their practically application including. An optimal variant has been chosen by means of multi-criterion appraisal method. That one is expanded as 5 alternate construction resolutions. An optimal variant is chosen by means of multi-criterion appraisal method again. The frame and carriage drive units are designed. The mostly stressed fitments are checked at final chapters by reason of credibility and to prevent from destruction of the robot. Construction solutions are sketched only and it is possible to take up them.

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All papers were reviewed by members of the scientific committee.