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## Construction and control system of vehicle with omnidirectional wheels

### Kamil Piotr Kowalski

#### Abstract

The aim of this engineering work was to design a control system and construction of a prototype of omnidirectional vehicle capable of moving on flat surfaces. The vehicle can be used for research and educational purposes and project included in this work was intended to allow its construction. At the beginning of this work, focus was on presenting already existing wheel solutions enabling omnidirectional movement for ground vehicles, i.e. movement in any direction on a plane without turning the whole vehicle and presenting the current literature background of wheels and existing commercial and non-commercial solutions. The construction on which this work focused are Mecanum wheels, also known in Polish literature as Swedish wheels from the country of origin of the company whose employee patented them. In the further part of the work, the design assumptions were presented along with 3D models of Mecanum wheels in two variants. The main difference between them was in material and method of machining the rims that each of the wheel consists of. The first wheel construction has been prepared so that it can be machined on a numerically controlled milling machine from aluminium workpiece. This is the most commonly used solution in the industry which allows the vehicle to carry heavy components and withstand greater pressures compared to the next design proposal. The second type in which wheels were made from bent steel sheet simplifies the production process and reduces the costs of making such wheels, but also reduces the maximum values of wheel loads. In the following chapters, all the electronic and electrical components needed to build a complete vehicle control system have been selected, including wireless communication module, powertrain, power cells with the appropriate components of the power supply system and a microcontroller meeting several requirements for proper operation of the control system. In addition, chapter 5.3. which describes the wireless communication module, presents a proposed way of exchanging data with the vehicle and devices that can act as a transmitter/receiver. Chapter 5 presented an electrical diagram of the control system with all passive electronic components and appropriate connectors to connect all components such as the power supply, communication module and powertrain. In this chapter the design of a double-sided PCB and block diagram of the power supply system was also presented. The last chapter presented the complete vehicle structure as a 3D model prepared in such way that all connections of individual elements of the structure are visible, as well as their arrangement, thanks to which the centre of gravity of the vehicle is at the centre of the structure, which enables an even distribution of mass on all wheels of the vehicle. The structure has also been adapted to attach an additional load to it so that the vehicle can be adapted to perform measurements and tests on it.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Kamil Piotr Kowalski (FPE) Kamil Piotr Kowalski,, Faculty of Production Engineering (FPE)
Title in Polish
Konstrukcja i układ sterowania pojazdu mobilnego z kołami omnikierunkowymi
Supervisor
Dominika Śniegulska-Grądzka (FPE/IoMP) Dominika Śniegulska-Grądzka,, The Institute of Manufacturing Processes (FPE/IoMP)Faculty of Production Engineering (FPE)
Certifying unit
Faculty of Production Engineering (FPE)
Affiliation unit
The Institute of Manufacturing Processes (FPE/IoMP)
Study subject / specialization
, Automatyzacja i Robotyzacja Procesów Produkcyjnych
Language
(pl) Polish
Status
Finished
Defense Date
31-01-2019
Issue date (year)
2019
Reviewers
Dominika Śniegulska-Grądzka (FPE/IoMP) Dominika Śniegulska-Grądzka,, The Institute of Manufacturing Processes (FPE/IoMP)Faculty of Production Engineering (FPE) Grzegorz Lis (FPE/IoMP) Grzegorz Lis,, The Institute of Manufacturing Processes (FPE/IoMP)Faculty of Production Engineering (FPE)
Keywords in Polish
pojazd mobilny, pojazd naziemny, koła Mecanum, koła szwedzkie, koła omnikierunkowe
Keywords in English
ground vehicle, Mecanum wheels, omnidirectional wheels
Abstract in Polish
File
• File: 1
Kamil_Kowalski_275885_Inzynierska.pdf
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Identyfikator pracy APD: 31148

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUTd4a231ca2d774d6ca4ce63d1f337a100/
URN
urn:pw-repo:WUTd4a231ca2d774d6ca4ce63d1f337a100

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