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Mechanical design of a four-wheel independent drive and steering mobile robot

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Conference Paper · June 2016

DOI: 10.1109/ICIEA.2016.7603585

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 Mechanical Design of a Four-wheel Independent
Drive and Steering Mobile Robot Platform

Fei Hua Guoli Li, Fang Liu, Yongbin Liu,

School of Electrical Engineering and Automation Engineering Research Center of Power Quality, Ministry of
Anhui University Education
Hefei China National Engineering Laboratory of Energy-Saving Motor &
huafei@ahu.edu.cn Control Technology
Hefei China
370442797@qq.com

Abstract—This paper depicts the mechanical design
of a mobile robot platform with four independent drive
and steering wheels. The wheeled mobile robot is
equipped with a thermal imager, a visible camera. The
robot's three wheels are independent and can rotate 360
°.The robot is automatically controlled by a remote,
which set a good basis for tracking cruise line. Robot
during cruise through infrared camera detects the
temperature of the device and the visible camera image
capture device, and the detected data image back to the
base station. In this paper, the mechanical design of the
robot, including cabinet design and the design of drive
wheel. Finally, the mechanical design of the whole robot
is through solidworks and AutoCAD design simulation
implementation.
PTZ monitoring system shown in Fig. 2.Detection
system is composed of a head, Infrared and visible light
cameras. Its head horizontal rotation angle of 0 ~ 360 °,
pitching rotation angle -60 ° ~ + 60 °.This ensures that no
dead detection system detecting device. Infrared mainly on
the point of contact temperature measurement devices,
visible light camera photo evidence is the device for
analysis and problem solving in the background staff. Entire
detection system can be operated at a temperature of
ambient -40 ° ~ + 65 °.While its relatively high degree of
protection, which means that regardless of wind or rain or
wind and sun, it can be the device 24h continuous
monitoring. Monitoring systems in substation monitoring
image shown in Fig. 3.

Keywords—mobile robot; independent drive and

steering; remote control; mechanical design

I. INTRODUCTION
Currently, on a global scale, there are many substation
fire accidents, and often causing casualties. In the
substation, using manpower to detect the devices is often
limited. Therefore, inspection robot described in this article
can be all-weather, real-time detection of substation
equipment, and the detected data image back to the base
station. Staff can return data to image analysis, timely
processing substation problems and avoid accidents. The
robotic device for detecting relies on infrared camera and
visible light camera to be completed. This article focuses on
four separate mechanical structure of the robot wheels and
how stable operation. A brief overview of the rest of the
electrical hierarchical is designing and tracking and mode of
the robot.

II. MECHANICAL DESIGN

The mechanical structure of the robot is shown in Fig. 1.
The mechanical design of the inspection robot uses a
modular design. The main dimension of the robot is about
D=650mm x H=900mm. The mechanical structure can be
separated into three main parts: monitoring systems, case
system and driving wheel system.

A. PTZ monitoring system design

Fig. 1 The mechanical structure of the robot

978-1-4673-8644-9/16/$31.00 2016
c IEEE 235

Fig. 2 PTZ monitoring system
optical axis linear bearings, to ensure that the optical axis
can traverse up and down. This will ensure that the closed-
loop stepper motor relative to the flange 3 is not moving,
closed-loop stepper motors can better play a steering role.
Selection of the drive wheels is calculated as follows:
1˅ hub motor: The mechanical structure of the robot
chassis for motor selection for analysis, stress analysis of the
drive wheel shown in Fig. 5.
Fig. 3 Substation monitoring image

B. Driving wheel system

Driving wheel system structure is shown in Fig. 4.

F/3 F/3
Driving wheel system is mainly composed of a hub motor, v
worm and closed-loop stepper motors. The chassis platform
is driven by four independent hub motors. These are identical
brushless-DC direct drives with a maximum torque of1.8Nm. F/3 F/3
They are driving a steel rim with thin (10 mm) solid rubber
tires that have a diameter of 120 mm. With this combination
Fig. 5 Stress Analysis wheel.
the platform can reach a velocity of 0.8 m/s. Due to the
diameter of the tires and the torque of the wheel motors the
robot can climb ramps up to a slope of 30degrees. The P = μmgv / η ˄1˅
advantages of hub motors are firstly that the space inside the
wheels can be used and thus the demand for a compact F = μmg ˄2˅
design is supported, and secondly the center of gravity is
FD
lowered due to the weight of the motors that is located near T = FR = ˄3˅
the ground. This supports the demand for stability. The 2
wheels of the wiring are also very particular about the hollow
shaft can be seen. The design of the hollow shaft has two T = 4T0i ˄4˅
advantages: First, it is the whole of the drive wheel bracket;
secondly it conducive to rational wiring. In the hollow shaft nπD
opened a small hole is to the wheel hub motor traces. This v= ˄5˅
will leave enough space for wiring, thus ensuring the wheels 60
can be rotated 360 °. n0
n= ˄6˅
Closed-loop stepper motor i
P is the total power of the chassis of the motor (W); F is
the total traction motor chassis (N); V is the robot chassis
walking speed (m / s); Ș is the efficiency of mechanical
Flanges 3 Optical axis transmission, usually around 0.8; ȝ the wheel and surface
friction coefficient, generally between 0.01 to 0.3; M is the
Linear Bearings total mass of the robot and the load (kg); g is the
Flanges 2 Hollow shaft gravitational constant 9.8 (kg / m ^ 2); T represents the
Shock absorber robot chassis required total moment when uniform walking
spring (Nm); T0not represent a single DC motor gearbox output
Flanges 1 torque (Nm) through; D represents the wheel diameter (m);
n represents the rotational speed of the wheel chassis (r /
min); n0represents the rotational speed of a DC motor (r /
min); i indicating the gear ratio gearbox.
Hub motor
In this system, the total mass of the robot is known about M
= 10 + 5 * 4 + 5 * 4+ 20 = 70kg, the traveling speed v =
1.0m / s, the chassis wheel diameter D = 0.2m ȝ = 0.2.
Fig. 4 Driving wheel system structure
On the ground by the robot walking Total power:
Driving wheel steering mechanism is constituted by a
μMgv 0.2 ∗ 70 ∗ 9.8 ∗1.0
closed-loop stepper motors, worm. In order to ensure the P= = = 171.5w ˄7˅
self-locking wheels can deceleration than needed 1:30.The η 0 .8
bearing and the bearing sleeve in the hollow shaft. This not
only makes the drive wheel to rotate more smoothly, but In this case the calculated total power at constant speed
also make the force supporting role better wheels. Spring of the robot load state of the chassis of the motor, but in the
sleeve bearing on the outside plays the role of shock startup process, taking into account the static friction and
absorption, making the Robot Obstacle better capabilities. provides acceleration, increased coefficient K (desirable 1.2-
Peripheral spring plus three axes, the flange 1 and flange 3 2 times), where 1.5 in. Since the robot chassis has three
are connected together. Not only that, but also added on the motors provide power, so a single motor power:

236 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA)
 P ∗ K 171.5 ∗1.5
P0 = = = 64.3125w
3 4
v ∗ 70 ∗ i 70πi
n0 = n ∗ i = = = 109.9i
πD 2
So the choice of a hub motor power Px >64.3125 (w),
and no-load speed nx>109.9i (r / min).If you choose the
reduction ratio of 1:15, then select the motor rated power
150W, rated voltage of 48V, no-load speed of 1500r / min,
to meet the requirements. Based on the above results, the
design of the wheel hub motor and the characteristic curve
are shown in Fig.6.
Fig. 6hub motor and the characteristic curve
III. ELECTRICAL SYSTEM HIERARCHICAL DESIGN
Inspection robot electrical system structure is shown in
Fig. 7.
Fig.7 Inspection robot electrical system structure
System is divided into three layers: base layer,
communication layer and terminal layer. Base layer consists
of monitoring background composed of a central data
receive the entire inspection system, image processing and
issues to be addressed. It is composed of a database,
inspection task configuration, device interface (robot
communication interface, data transceiver interface, PTZ
2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA)
2˅ Closed-loop stepper motor: The maximum weight
˄8˅ of the robot is 70kg, use wheel 12cm diameter. When
considering the friction coefficient of 0.5, the robot total
torque is:
˄9˅
T = 0.04 ∗ 70 ∗ 9.8 ∗ 0.5 = 13.72 N .m ˄10˅
13.72
= 0.23N .m ˄11˅
15 ∗ 4
Single motor torque is 0.23N.m. Therefore, a single
closed loop stepper motor torque Tx>0.23Nm.
control interface, etc.), and data processing modules. Base
layer is formed by the image processing and pattern
recognition technology, automatic identification and alarm
equipment defects.
Communication layer by the network switches, base
stations and mobile stations bridge bridges and other
equipment. It uses the wireless network transmission
protocol to transmit and receive data, provides transparent
transmission channel for network communications terminal
station control layer and between layers.
Terminal layer include mobile robots, charging chambers
and fixed monitoring points. Wireless communications,
optical fiber communications can be used between the fixed
point and the video surveillance monitor background
between the mobile robot and monitor background. Charging
chamber installation charge mechanism, after completing a
patrol mission robot or low battery, the charging chamber is
automatically returned. Then after positioning, the charging
device is automatically charged by the position sensor.
IV. NAVIGATION SYSTEM DESIGN
A. RFID tags and magnetic track
At present, most of robots used in the tracking mode is
divided into two types: GPS navigation and magnetic track
navigation. However, GPS navigation and magnetic track
navigation has drawbacks. Navigation susceptible to
electromagnetic interference and other signals, magnetic
track navigation positioning accuracy is not high. Thus, the
robot navigation using RFID tags combined magnetic track
positioning tracking the way.
RFID tags and magnetic track arrangement are shown in
237
 Fig. 8. Magnetic track laid in the middle of the road, RFID
tags embedded monitoring points docked to the right of the
magnetic track (distance of about 20cm). If the robot is only
one way to walk along a closed path, each intersection is
just placed an RFID tag. To achieve bidirectional robot
walking requires a plurality of RFID tags embedded in
accordance with the type of intersection. Since the robot
device has certain stopping distance to stop when stationary
RFID tag (about 20cm), so it is on the right crossing to cross
the intersection point of reference, in each direction along
the magnetic track of the robot towards the intersection
point of the cross, buried RFID tags marked intersection
points (horizontal distance magnetic track about 20cm,
about the longitudinal center of the road from 50cm), the
number of crossing points marking embedded RFID tag are:
corner two, three T-junction, crossroads four. Left and right
sides of the bottom of the mobile robot symmetrically
arranged two RFID readers, so the process of moving the
robot to read any RFID tags, can identify their location and
walking directions.
Fig. 8 RFID tags and magnetic track arrangement
B. Robot tracking posture
Inspection robot walking posture is shown in Fig. 10.
The following figure describes the robot in the road and
right-angle bend curve road running different posture. On the
curve road, four separate robot wheels will continue to rotate
a certain angle, slowly moved forward. When the road bends
at a right angle, the robot travels to a right angle bend only
four independent wheels at the same time turn a 90 ° angle,
and then continue to march forward. Tracking of the robot
will be depending on the road conditions, constantly
changing operational posture.
V. CONCLUSIONS
238 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA)
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Development of the robot can not only liberate the
human, and can greatly reduce the occurrence of accidents.
Features of this robot are to use the Four-wheel structure
between its wheels and the cabinet, reducing the center of
gravity. Second, it's wheels can rotate 360 ° in situ, vibration
dampers and springs also ensure the smooth operation of the
robot. Development of the robot device achieves a paperless
inspection and information technology to improve the
efficiency and quality of work. But also for the operation
and management device provides an innovative means of
detection and monitoring.
Fig. 10 Inspection robot walking posture
ACKNOWLEDGMENT
The work is supported by the Science and Technology
Project for Police of Anhui Province(1401b042010).
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