Experimental Study of Impact of the Rear Wheel in Three Wheeled Triangular Structured Omnidirectional Robot

This research work presents the influence of the rear wheel, in the Triangular Structured Omni-directional Mobile Robot (TSOMR). In this robot, two Dual Row Omni-directional wheels are fixed to the specially designed Triangular chassis having 60° apex angle and rear wheel influence is analysed. To achieve the forward motion, the Omni-directional Wheels in Left and Right side of the TSOMR have to rotate in the same sense and the same speed. In the previous research works to achieve the forward motion only left and right side wheels' motion have been considered. Hence this research work targets the influence of the rear wheel in the movement of TSOMR. The experimental analysis has been carried out by equipping the rear wheel as the same Dual Row Omni-directional Wheel, Dual Swivel Caster Wheel, Ball Caster wheel, and Six Wheel Casters. This Mobile Robot has been moved on a flat cement floor up to 5 meters and deviations from the desired path have been recorded. The reasons for the deviations have been addressed in this paper.