Design and Movement Analysis of Single Roller Omni Directional Wheeled Robot for Different Assembly Structures

This paper addresses the movement analysis of square structured and triangular structured Omni directional mobile robots and its combination in the form of octagonal structured mobile robot. The Omni wheel used in this research is having 8 rollers made up of synthetic rubber coated polypropylene rollers. An experiment was setup to analyse the movement of the square, triangular and octagonal structured robot in x-axis, y-axis and rotary motion. This experiment is an attempt of combining square structure and triangular structure robot in a single robot. Omni Directional mobile robot creates another step in the field of mobile robotics.