Development of a holonomic robotic framework for a holonomic mobile platform

• Main Author: See, Cheng Hui
• Other Authors: Seet Gim Lee, Gerald
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/68316
• Institution: Nanyang Technological University

This Final Year Project explores on the workings of a drive system using mecanum wheels such as the kinematics behind of the mecanum wheels and the various sub-systems needed to move this platform. The mecanum drive enables a robotic platform to move without non-holonomic constraints, but does not perform well on grounds that are not totally flat. This is due to the mecanum drive being highly sensitive to the irregularities of the ground and the omnidirectional capabilities of the mecanum drive would be lost if any of the four wheels of the platform lost contact with the ground. This can be mitigated with the utilization of a suspension system, which allows the mecanum wheels of the platform to keep in contact with the ground, even if the ground is not totally flat. For this robotic platform used in this Final Year Project, the mecanum wheels was able to handle the irregularities of the ground, while the suspension system on the platform enabled the platform to overcome obstacles while travelling forward or sideways.