Technological University(Mandalay)
Department of Mechatronics Engineering
Mecanum Wheels Robot
(First Seminar)
(27.7.2020)
Supervised By Presented by;
Dr. Theint Theint Htwe Mg Sao Khon Hein Thu
Professor 6BE MC-24
1
Outlines of Presentation
Abstract
Introduction
Aim and Objectives
Literature Review
Problem Statement
System Block Diagram
Hardware & Software Requirements
System Operation
Method
Future Plan
References
Abstract
Mobile robots equipped with four Mecanum wheels have the
omnidirectional property, which means, they have the ability to move
instantaneously in any direction ,from any configuration.
Compared to conventional platforms, these vehicles possess multiple
advantages in terms of their mobility in narrow spaces or crowded
environments.
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.
Introduction
Mecanum Wheels Robot is capable of moving in any direction.
This unique mobility of the robot is achieved by using special type of
wheels, called Mecanum Wheels.
This wheel is a conventional wheel but mounted with a series of small
rollers around its circumference.
Small rollers are mounted along the wheel rim with a shifted of 45°
angle to the wheel plate.
Aim and Objectives
Aim
To achieve omnidirectional movement for a vehicle without needing a
conventional steering system.
Objectives
To travel in any direction under any orientation and to crab sideways,
turn on the spot and follow complex trajectories.
To be able to use in the vehicles that deliver loads in narrow spaces.
Literature Review
Dejan designed and built the mecanum wheel robot.
He made it possible to wirelessly control the robot using the
NRF24L01 radio transceiver module and a smart-phone via Bluetooth
communication.
Dejan made a custom Android application through which we can
control the mecanum wheels robot to move in any direction.
Problem Statement
People weren't able to transport objects by using robot vehicles in
congested environments.
By using Mecanum wheels robot platforms, we can have vast
advantages over a conventional design in terms of mobility.
They are capable of easily performing tasks in environments
congested with static and dynamic obstacles and narrow spaces. These
environments are commonly found in factory workshops, warehouses,
hospitals and elderly care facilities.
Android
DRV8825 Stepper Driver Stepper Motor NEMA 17
Application
DRV8825 Stepper Driver Stepper Motor NEMA 17
HC-05 Bluetooth
Arduino Mega 2560
Module
DRV8825 Stepper Driver Stepper Motor NEMA 17
3S LiPo Battery
35C 11.1V DRV8825 Stepper Driver Stepper Motor NEMA 17
3500mAh
Block Diagram
Hardware & Software Requirements
4 x Stepper Motors – NEMA 17
4 x DRV8825 Stepper Drivers
Android Application
HC-05 Bluetooth Module
3S Li-Po Battery 11.1V – 3500mAh
Arduino Mega Board
System Operation
If all four wheels move forward, the resulting move of the robot will be forward, and vice versa if
all wheels move backward the robot will move backward.
For moving to the right, the right wheels need rotate inside the robot, while the left wheels need
rotate outside the robot. The same but opposite happens when moving to the left.
With these wheels we can also achieve movement in diagonal direction by rotating only two
wheels.
We will design and 3D print our own ones.
The wheels are made out of two parts, outer and inner side which are secured
together with some M4 bolts and nuts. The length of the bolts needs to be 45mm.
The wheels have 10 rollers each.
We will use 3mm tick steel wire for the shafts of the rollers. The length of the
shafts needs to be around 40mm.
A shaft coupler specifically designed to fit a NEMA 17 stepper motor.
To attach the wheels to the motor’s shafts, the shaft coupler have a slot for
inserting an M3 nut through which an M3 bolts can pass through.
Method
Arduino controller is used to control the direction and speed of four
mecanum wheels.
Using the Arduino Mega 2560 board connected to the motor drivers.
We will control the robot by using manual and automatic control
methods.
In manual, we can control the robot manually.
In automatic, there is a feature in the app through which we can
program the robot to move automatically.
Using the Save button we can save each position or step and then the
robot can automatically run and repeat these steps.
Future Plan
To analyze the control system design for mecanum wheel robot.
The circuit diagram and flow chart will be included in the next
seminar.
To design and build the prototype of the mecanum wheels robot.
References
[Boreinstein , J., Everett, H.R., Feng, L., 1996],Navigating Mobile Robot. AK Peters, Wellesley, Massachusetts
[Dubowsky, S., Genot, F., Godding, S., Kozono. H,Skwersky, A., Yu, H., and Yu, L, 2000], “PAMM -A Robotic
Aid to the Elderly for Mobility Assistance and Monitoring: A Helping-Hand for the
Elderly”.IEEE International Conference on Robotics and Automation
[Ilon, B.E., 1975],Wheels for a course stable self propelling vehicle movable in any desired direction on the
ground or some other base, US Patents and Trademarks office, Patent 3,876,255
[Killough, S.M., and Pin, F.G., 1994], “A New Family of Omnidirectional and Holonomic wheeled platforms
for mobile robots”, IEEE Transactions on Robotics and Automation, Vol.10, No.4, pp. 480-489
[Laumond, J.P., 1998],Robot Motion Planning and Control. Springer-Verlag, London.
[West, M., and Asada, H., 1997], “Design of Ball wheel Mechanisms for Omnidirectional Vehicles With Full
Mobility and Invariant Kinematics”, Journal of Mechanical Design, Vol.119, pp153-161
[Kalpakjian, S., Schmid, S.R., 2000],Manufacturing Engineering and Technology, Prentice Hall.
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