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CSME 2025/06
Volume 46 No.3
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287-296
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Optimal Design to Reduce the Vibration of Omnidirectional Three Wheeled Mobile Robot
Khoa Viet Nguyen a and Ngoc Van Bach Pham b
aDepartment of Structural Health Monitoring, Institute of Mechanics, Vietnam Academy of Science and Technology, Ha Noi, Vietnam, VNU University of Engineering and Technology, Vietnam National University, Hanoi
bDepartment of Sefas, Vietnam National Space Center, Vietnam Academy of Science and Technology, Ha Noi, Vietnam , VNU University of Engineering and Technology, Vietnam National University, Hanoi
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Abstract:
Recent image-based robotic systems use image identification to control robots in many industry fields. When the robot moves on an uneven ground the view of camera attached to the robot will be changed over time, and together with the effect of robot vibration the images will be blurred. Thus, the elimination of vibration of the mobile robot is very important for image processing with high accuracy. This paper presents the optimal design of an omnidirectional wheeled mobile robot (OMR) to reduce its vibration. The formulas for calculating the vibration of the triangular OMR equipped with vibration absorber systems moving on an unevenness ground is established. The relationship between the vibration amplitude and parameters of the OMR is investigated to determine optimal parameters to reduce the robot vibration. The experiment has also been carried out to verify the proposed design of the OMR.
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Keywords: Mobile robot, Omnidirectional three wheeled, Vibration, Absorber.
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©
2025
CSME , ISSN 0257-9731
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