Structure design of an omni-directional wheeled handling robot

摘要

Abstract In response to the demand for automated item handling, this paper proposes an omnidirectional wheeled handling robot. Firstly, determine that its mobile platform is based on the design of the Mecanum wheel, which can move safely and efficiently. Secondly, according to the common object shapes, a single-side opening and closing insertion rack clamping mechanism is proposed. Thirdly, in order to meet the needs of transporting objects and avoid interference with the movement of the moving body, the mechanical arm is a four-degree-of-freedom joint structure. Finally, a decelerated AC servo motor with self-locking function is selected as the drive motor, and a low-speed motor with a reducer is used as the drive element of the moving body.