Manual Mobile Robot For Robocon

Shivaraj , Samugam (2009) Manual Mobile Robot For Robocon. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project presents the research, designing, and development of multi-directional mobile robot using four custom-made Mecanum wheels for Robocon 2009 application. The Mecanum wheels that were designed and developed consist of six passive rollers made from rubber and the wheel body made of Polyethylene (P.E). The Mecanum wheels are autonomously controlled using four units of industrial specification VEXTA AXHM230K-GFH brushless geared DC motors and the motors were mounted directly to the robot platform constructed using an aluminum frame. The wheels are directly coupled to the motor shaft for direct actuation and precise control of each motor independently. IFC (Interface Free Controller) microcontroller board with build in PIC18F MCU used to operate the robot. The stackable boards contain a main board card, power card, two brushless motor cards, and a PS2 joystick card. A fundamental multi-directional mobility developed using MPLAB IDE programming software to analysis the basic mobility capabilities and performance of the mobile robot that will counterpart Robocon environment. A visual experiment was set-up to analyze the motion characteristic of the mobile robot motion in Y and X axis, rotary motion, and finally diagonal motion. Mecanum wheel mobile robot provides an opportune platform for further development in the mobile platform beyond research and educational purpose. The synchronization of Mecanum wheels mechanism, robot platform mechanical design, flexible motion control, and multiple feedbacks from input/output devices allows the exploration of great extend of control algorithm of the robot for practical and commercial applications.

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