Modeling and Control of a Six-Wheeled Mobile Robot

Abstract

This paper is based on the motion of a mobile robot which is capable of working in a challenging environment. It is a six-wheeled mobile robot with four legs at each corner and other two attached to the middle of the plate. The legs are essential assemblies of robot because they play an important role in a contact with the ground and carry heavy loads. The robot can change its position in any direction. As a main part of the robot, a microcontroller is used which transfers the signal to the relay board and it controls the wheel motion indirectly. An ultrasonic sensor is used in this robot to help in detecting obstacles by emitting sonic wave. Primary object is to detect the distance between the sensors and object. Robot under study is found to be complex and a bit costlier compared to other robots, but it has the capability to traverse different kinds of obstacles. The robot has been modeled in CATIA and analyzed using ANSYS. Different amount of force up to 8 N has been taken and observation for total deformation of the structure, directional deformation in x-axis and y-axis of the robot, maximum principal stress, and minimum principal stress has been made by using structural steel as the material for the robot.