Design and implementation of omnidirectional mobile robot applied to swarm robots

Abstract

The evolution of technology combined with robotics results in the use of robots for numerous tasks in several areas, and it can now reach areas of entertainment, medical, military activity, research, guidance and domicile, as opposed to its beginnings, when it focused on industry. This work aims to design, produce and test a mobile robot structure with three Omnidirectional wheels, in order to become a model and incentive in the research and development of cooperative or swarming robotics. In this direction, it sought to combine design methodologies with computer-aided manufacturing and finalizing the programming of a rapid prototyping microcontroller (Arduino) robot to test its operation. As a result, this work presents a multidisciplinary project since its conception, execution to the delivery of an omnidirectional mobile robot model (with the intention of encouraging research and development of this type of locomotion) and a reduced cost (an important requirement of the project since it aims its replication).