An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement

In fields such as logistics, robots are required to have efficient mobility.There are various types of rollers used in mobile robots.Among them, omni-rollers have excellent omnidirectional mobility and are easy to control.In this study, mechanism kinematics has been proposed that assumes arbitrary changes in the roller arrangement position on a circular mechanism and the roller arrangement has been evaluated from the viewpoint of speed efficiency.Furthermore, we aim to evaluate the mobility of mobile robots by focusing on their translational components.Moreover, we have examined the behavior of the area of the area generated by the end point of the robot velocity vector and evaluated the velocity efficiency.