A novel clutch coupled nonholonomic wheeled mobile robot mechanism to mechanically minimize deduced reckoning error

Abstract

Motion stabilization of mobile robots has been a considerably large area of research in robotics and there are innumerous programming based solutions to cater this issue. It still becomes inconvenient to make wheeled mobile robots (WMR) move autonomously over distances without producing deduced (dead) reckoning error. The WMRs then fail to move without continuous control feedback systems resulting in systematic odometry error. A novel approach for attaining continuously synchronized drive motion and to produce a cost effective mechanical structure, without complex electronic feedback control system is the purpose of our research. This paper presents the existing solutions that have been in practice to mechanically reduce odometry error, a comparative analysis is then evaluated followed with the proposed design. Unlike conventional differential drive mechanisms, it is driven by two independent motors, one generates drive power to all the wheels for linear kinematics, and the other helps achieve the zero degrees rotation using bevel gear arrangement. The robot has the ability to move in a curved trajectory using two motors simultaneously. These mechanisms are electronically controlled by powering the motor, and engaging the electromagnetic clutch attached to the wheel as required. This shows that this robot is flexible and able to perform point-to-point motion effectively.