DESIGN OF MECHATRONIC MODULES THAT CAN FORM MULTIPLE CONFIGURATIONS OF MOBILE ROBOTS

The ever-changing industrial environment has become very competitive these days, and industries such as the automotive industry are trying to find increasingly complex automation solutions that can lead to an increase in targeted productivity in several stages, from the supply of semi-finished products to the delivery of the final product. Solutions for automating the logistics system exist but can be greatly improved to increase productivity and reduce production costs. This paper presents the design of mechatronic modules that can form multiple configurations of modular mobile robots with multiple wheel types. In addition, the paper discusses the configuration of a mobile robot with four omnidirectional wheels having rollers arranged at 90 degrees. For this configuration, the constructive variants, the functionality of the subassemblies and the mathematical modelling of the kinematic and dynamic model are presented.