The purpose of this project was to construct a holonomic mobile robot driven with omni wheels. That would enable movement in all degrees of freedom. The finished product was a robot platform within a spherical shell body controlled by input commands defining speed and direction from a wireless communication medium. The platform was iteratively designed and constructed with parts made out of laser cut acrylic plastic. By using omni wheels powered by Direct Current (DC) motors, which will be described further, the holonomic drive could be realized as the wheel hubs were placed on the platform with calculated angles. / Syftet med detta projekt var att konstruera en holonomisk robot, vilket kan uppfyllas med hjälp av omnihjul som kan drivas i samtliga riktningar i planet. Den färdiga produkten blev en robot som placerats i en sfärisk kropp som tar in hastighet- och riktningssignaler från en trådlös kommunikationsmodul. Plattformen, som iterativt designades, laserskärdes ur akrylplast. På den placerades omni-hjul drivna av DC-motorer, vilka möjliggjorde den holonomiska rörelsen
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-279805 |
| Date | January 2020 |
| Creators | KARLSSON, AKMAL, MOHAMMED-AMIN, TARA |
| Publisher | KTH, Skolan för industriell teknik och management (ITM) |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf, video/mp4 |
| Rights | info:eu-repo/semantics/openAccess, info:eu-repo/semantics/openAccess |
| Relation | TRITA-ITM-EX ; 2020:27 |
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