Page 297 - Robot Design Handbook ROBOCON Malaysia 2019

demanding autonomous mobile robots to fulfil various movement tasks [2,3]. Due to

complicated working environment, mobile robots need to be flexible, adaptive, and safe
[4,5]. There are many kinds of omni-directional mobile robots that have been developed and

produced [6]. Two common types of wheels that can realize the omni-directional movement
are the steerable wheel and the omni-directional wheel. Both of them have been used for

mature products, including Adept Seekur and KUKA omniRob robots.

Dual-arms robot manipulators are more capable of implementing complex tasks as

compared to a single arm manipulator robot. The advantages and benefits of dual arm robots

over a single arm manipulator system are multitasking, cost saving and space saving. This
technical report addresses the design of a nine DOF dual arms mobile robot manipulators.

There are many kinds of omni-directional mobile robots that have been developed and
produced [2]. Thus the team integrated the dual-arms robot with an omni-directional mobile

robot to design a nine DOF dual-arms omni-directional mobile robot.

The development for this project can be divided into two major stages; the

mechanical design for omni-driectional mobile robot and the dual-arm robot manipulator
design.

2.1 Omni-Directional Mobile Robot

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. Depending on each individual wheel direction and speed, the resulting

combination of all these forces produces a total force vector in any desired direction. This
allows the platform to move freely in the direction of the resulting force vector without

changing the direction of the wheel. Figure 1 shows a traditional mecanum wheel designed

by Ilon with the peripheral roller set up at 45 degrees slope held in place from the outside.

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