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Design of an Omni-Direction Robot with Spherical Wheels
Dominic Campbell, Emanuele Lindo Secco
Pages - 1 - 9     |    Revised - 28-02-2022     |    Published - 01-04-2022
Volume - 14   Issue - 1    |    Publication Date - April 2022  Table of Contents
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KEYWORDS
Omni-directional Wheel, Osaka Wheel Mechanism, Wheeled Robotics.
ABSTRACT
We proposed the design of an omni-direction robot which embeds 4 spherical wheels. The wheels are connected to 4 DC motors and controlled through an L298N boards which is powered with 2 LIPO batteries. A low-cost Arduino board oversees the system by controlling the motion and speed of the motor.

The wheels of the robot integrate an omni-directional mechanism and all components have been designed in Fusion 360 (Autodesk ®), manufactured with a 3D printer (Ender 5) an then assemble and integrated with the hardware and software of the system.

Preliminary tests show that the proposed solution is promising and provide a good reference for the manufacturing of low-cost robot.
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Dr. Dominic Campbell
Robotic Lab, School of Mathematics, Computer Science and Engineering, Liverpool Hope University, Liverpool, L16 9JD - United Kingdom
Dr. Emanuele Lindo Secco
Robotic Lab, School of Mathematics, Computer Science and Engineering, Liverpool Hope University, Liverpool, L16 9JD - United Kingdom
seccoe@hope.ac.uk