Design and Development of an Omnidirectional Three-Wheeled Industrial Mobile Robot Platform

摘要

Omnidirectional mobile robots are essential in modern industry because of their ability to move in any direction, facilitating operations in confined spaces with high precision. This paper presents the design and development of an omnidirectional moving platform designed to transport loads on flat industrial surfaces, with three degrees of freedom that optimize its mobility. The mechatronic design combines kinematic analysis, motion control development, and a robust structure to improve the robot’s performance. A speed reduction system is incorporated to increase wheel torque, enabling efficient load handling. In addition, a control algorithm and a command device ensure precise and versatile operation. A prototype is developed and validated through practical tests that confirm its effectiveness in industrial environments. Areas of improvement are also identified for future optimizations, aligned with the growing demands of automation. This article highlights the importance of omnidirectional robots as a key solution for applications requiring precise mobility, efficiency and adaptability.