Design and Analysis of 5 DOF Wheeled Mobile Robot

  IJETT-book-cover  International Journal of Engineering Trends and Technology (IJETT)          
© 2016 by IJETT Journal
Volume-32 Number-7
Year of Publication : 2016
Authors : Dhiraj D. Patil, Dr. S P. Shekhawat
DOI :  10.14445/22315381/IJETT-V32P265


Dhiraj D. Patil, Dr. S P. Shekhawat"Design and Analysis of 5 DOF Wheeled Mobile Robot", International Journal of Engineering Trends and Technology (IJETT), V32(7),343-351 February 2016. ISSN:2231-5381. published by seventh sense research group

This dissertation work is aimed for research over the 5 DoF wheeled mobile robot application. A kinematics models which including direct kinematics, inverse kinematics, and differential kinematics for a wheeled mobile robot is established. For direct kinematics, the Euler angles are used to represent the posture of the end effector, which are more convenient for measurement and control than the posture vectors. During the analysis of differential kinematics, a direct differentiation method is used, which is more accurate than the traditional method. The critical criteria of the tipover stability for the wheeled mobile robot has been established and validated using stress analysis of wheel over ground. In RoboAnalyzer the arm of WMR is simulated and path traced from initial to final end position. A total of two variants are analyzed for concluding the thesis work. On the extended arm position side the stress are greater and on opposite side it was found to be enough to have friction between wheel and ground to keep WMR stable.


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Wheeled mobile robot, Nonholonomic, wheel ground interaction.