Applied Mechanics and Materials Submitted: 2014-05-31

ISSN: 1662-7482, Vols. 602-605, pp 1006-1010 Accepted: 2014-06-11

doi:10.4028/www.scientific.net/AMM.602-605.1006 Online: 2014-08-11
© 2014 Trans Tech Publications, Switzerland

Design and Development of an Omni-directional Mobile Robot for

Logistics
GAO Zhenqing1, a, CHEN Hongbin2,b, DU Yanping3,c, WEI Li4,d
1
Beijing Institute of Graphic Communication, Beijing, China
2
Beijing Institute of Graphic Communication, Beijing, China
3
Beijing Institute of Graphic Communication, Beijing, China
4
Beijing Institute of Graphic Communication, Beijing, China
a
email: gaozhenqing@bigc.edu.cn
b
email: chenhongbin@bigc.edu.cn
c
email: duyanping@bigc.edu.cn
d
email: weili@bigc.edu.cn

Keywords: Omni-directional Mobile; Logistics; Robot

Abstract. In view of the common oriented logistics robot is difficult to adapt to the complex and
changeable requirements of modern logistics environment, a highly mobile logistics robot is
developed based on the omni-directional mobile mechanism. In the course of the study, the
mechanical body of omni-directional mobile logistics robot is designed by the three Swedish
wheels structure, then the forward and inverse kinematic is analyzed s, and the result is
simulated numerically for validating, finally a set of physical prototype is developed. The
development of logistics robot with omni-directional mobile capability can improve the flexibility
of logistics transmission equipment, increase the operational efficiency of logistics system and
intelligent degree. It has a certain value for the related research for the application field of the
robot and logistics equipment field.

Introduction
In the cramped space, uneven pavement, changeable environment, the occasions vehicle
change frequently, how to quickly complete the task for logistics vehicles, not only can satisfy
the working environment and achieve the objectives, but also can show considerable intelligence, is
one of the difficulties in the academic fields widely attended[1]. At present, the Automated Guided
Vehicle applied widely in the field of logistics requires fixed orbit navigation; realize its motion
requires a larger space, and the mobility and degree of intelligence limitations. Therefore, the omni-
directional mobile robot's that can move freely and quickly in the narrow, crowded place become
one of the hot and difficult designs[2]. At the same time, it caused the researchers in the field of
logistics equipment; logistics field will likely become an important application in the field of the
omni-directional mobile robot. Over the past several decades, domestic and foreign scholars on the
omni-directional motion mechanism and omni-directional mobile robot, kinematics modeling
and motion control of a lot of research work, and made a lot of research[3~9].
In this paper, the design of omni-directional mobile logistics robot developed without
guide, which can move along any predetermined trajectory in the plane, realize the omni-directional
mobile, and can arbitrarily adjust the attitude to achieve zero turning radius. From the degree of
freedom and the moving coordinate point of view, the robot in the plane of motion with three
degrees of freedom: the direction of two degrees of freedom of movement to ensure the position
change, a plane rotational degrees of freedom that attitude change. Research has shown that, in the
tire contact with the ground under ideal conditions, with more than three degrees of freedom
robot at any time, any direction are complete, can accurately achieve the omni-directional motion.

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 Applied Mechanics and Materials Vols. 602-605 1007

I. Structure Design of Omni-directional Mobile Logistics Robot

The existing omni-directional mobile wheel includes

spherical wheel, Swedish wheels and casters, which
mobile and unlike traditional mobile round only, the
omni-directional mobile wheel can move freely in two
directions, and there is no turning radius problem. Among
them, the Swedish wheel is more common, consists of
several small wheel around the main wheel, so that each
bus wheel together to form a complete circle, according to
the angle between the axis and the axis of
the main gearwheel, divided into 45 degree and 90
degree two. The study of the structural design of the
robot is shown in Fig.1, consists of three 90 Swedish
wheel, radial symmetric installation, each wheel axis two
Fig.1 Structure design of omni-directional
two 120 degree angle. mobile logistics robot
The robot consists of three layers: the bottom layer
for movement, Swedish wheel, bearing, coupling, support
frame, a transmission shaft moving mechanical parts and the driving motor are arranged in the
layer; the middle layer is the main control layer, the robot controller, motor drive is mounted on
the floor; the upper loading layer, need transmission of material can be placed on the platform.
Three layer platform are designed to be circular, can make the robot in the process of rotation does
not occupy extra space.

II. Kinematics Analysis of the Omni-directional Mobile Logistics Robot

Before the robot kinematics is derived, the kinematics of a single 90 Swedish wheel needs to
be analyzed. Reference[3], taking into account the wheel axis through the body center of robot after
installing, which meet the symmetry conditions for configuration, the 90 degree Sweden wheel
kinematics equations are:

(1)
In the formula, and were the length and angle of wheel center point position in polar
coordinates, is position and attitude representation of wheels in the coordinates, is the
wheel radius, is wheel speed. In formula(1), there is no difference between the wheel motion
description and common fixed standard wheel, while the 90 Swedish wheel is unique in being the
main wheel on the outer circle of the roller, roller into the degrees of
freedom, the 90 Swedish wheel can generate omni-directional
motion.
Based on the known motion of single wheel, the overall
kinematics analysis of this robot will be done. Plane and
wheel were assumed keeping the vertical, and between the three
wheels and the ground in any situation are the single point of
contact, and that contact points in the non slip. Set the robot
initial position as shown in Fig.2, the main center at the coordinate
system origin, X axis and 1 axis wheel. Between the wheel and
the distance from the origin are l, all 3 wheels have the
same radius r. Given the initial angle of three wheels and X Fig.2 Initial position and attitude
axis respectively are: 0 degree, 120 degree and 240 degree. of robot
1008 Advanced Manufacturing and Information Engineering, Intelligent
Instrumentation and Industry Development

The robot body motion can be considered to be composed of three Swedish wheel independent
motion combination. Combined formula (1), three wheeled movement combination results:

Through derivation, inverse kinematics analysis results as shown in formula (2).

(2)
The forward kinematics analysis results as shown in formula (3).

(3)
Formula (2) and (3) describes the relationship between three wheel robot respective speed
and robot motion . The other parameters represent the wheels size, and the
robot center distance, the wheel layout and wheel structure etc.

III. Analysis of numerical simulation

To verify the above result of kinematics analysis, choose the forward
kinematics formula (3), numerical simulation. To simplify the computation, the set l=1, r=1, and
length of each step t=1s, given 8 sets of wheel speed state, as shown in the following
table, the total reached 8 positions and attitudes. There is a need to explain, the
numerical simulation process did not give a specific dimension. The calculation
process is known. The wheel speed , through the forward kinematics equation, solving
the velocity vector , and then determine the vehicle position and attitude in different
moment. The 8 positions of the vehicle body can reach as shown in Fig.3, the rotation profile in this
figure inconvenience, table corresponding to the reference value. Fig.3 proves that the
performance of omni-directional motion of the body has, namely can along any path movement in a
plane.
Table List of position and attitude
wheel
No robot velocity position/attitude
speed
1

The inverse kinematics of robots do not have a unique solution, may be more a reachable path
exists between the starting point, the simulation process involves the problem of path planning, not
in the scope of this research, and therefore not simulation analysis.
 Applied Mechanics and Materials Vols. 602-605 1009

IV. The robot prototype development

On the basis of the analysis of the structural design of the robot and kinematics, the physical
prototype development of the omni-directional mobile robot a set of logistics, as shown in fig.
4. The specific dimensions and parameters of robot: the main wheel as the standard 2 inch diameter
round the wheel are Sweden, including 16 small rollers; the three layer platform radius is
120mm, three wheels and a circle of radius 110mm; robot body height 180mm. These data will
be substituted into the above formulas of kinematics, the actual movement can be prototype, and
here is no longer a detailed calculation.

Fig.3 Trajectory diagram Fig.4 Robot prototype

V. Conclusions
The omni-directional mobile logistics robot adopt three layer structure of
three driving, circular platform, has carried on the kinematics analysis and numerical
simulation, the subsequent motor motion control on the basis of, and developed a set of physical
prototype, verify the feasibility of the research content, the motor control algorithm for the next step
work to develop specific. Along with the progress of the omni-directional mobile robot, which has
the practical prospect in the field of logistics, in order to make wheeled mobile robot can be
stable, accurate, fast operation, improve the stability of the whole system, the future of
the kinematics modeling, sliding conditions in real-time, accurate position estimation of feedback
control and basic work, also must be solved problems and exploration direction.

Acknowledgment
This paper is supported by funds below:
The Youth Talent Support Plan of Beijing（PXM2011_014223_113518）

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Advanced Manufacturing and Information Engineering, Intelligent Instrumentation and Industry
Development
10.4028/www.scientific.net/AMM.602-605

Design and Development of an Omni-Directional Mobile Robot for Logistics

10.4028/www.scientific.net/AMM.602-605.1006

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