Robotic Vacuum

iRobot Roomba is robotic floor cleaner by vacuum It vacuums up
loose particles and applies cleaner to soak up dirt

iRobot® Roomba® Scheduler Vacuuming Robot with Intelli-Bin™

Our new and sleeker looking vacuuming robotic offers you all the
features of Roomba Scheduler, plus the added benefit of Intelli-Bin.
Now enjoy maximum cleaning efficiency as Intelli-Bin tells you
exactly when to empty Roomba's bin. No more guesswork! System
includes filters, brushes, Cleaning Tool and 2 Scheduling Virtual
Walls.
STANDARD FEATURES - Dirt Detect
- Stair Avoidance System
- Surface Transitioning
- Bagless Debris Bin
SPECIFICATIONS Package Dimensions: 21.1”L x 16.9”W x 5.2”H
Package Weight: 11.55 lbs.

www.irobot.com

2 wheel robot turns

Robot wheels have very little, if any, sideways motion
(assuming that the center of gravity of the robot is close
to the two wheels). The circle in the front of the robot is
a skid of some soft (this is any smooth piece of plastic,
such as a ping-pong ball or a bottle cap). Because this
skid is smooth, it doesn’t mind making the large sideways
motion, and the robot will turn easily.

We use two step motor and one ping-pong ball
robot part
Assembly motor and wheel

Put them to Base plate

Close by top plate


Idea of 4 wheel robot 1

Wheel Robot and Omni wheel Flexiwheel

Idea of 2 wheel robot

2 wheel robot is a two-wheeled drive system with independent
actuators for each wheel
it makes it easier to position and control the robot.
This idea we use two step motor for drive robot and two mini wheel
at font and back of robot
Part of robot

Assembly motor and wheel

Put them to Base plate

Close by top plate

Idea of 2 wheel robot 2

Idea of 4 wheel robot

4 wheel robot can handle relatively rough terrain and move at
high speeds It makes it easier to position and control the robot.
Easy way for make 4 wheel system is used four motor
Part of robot

Assembly motor and wheel

Put them to Base plate
Close by base plate

DC MOTOR and ROBOT WHEEL

How to control omni-direction wheel

Omni-wheeled system motion
We now consider the motion of a simple omni-wheeled system,
where rotation is fixed. Consider Figure 2.3.1, showing the vectors
acting on one driving wheel.

where, Vw is the velocity of the wheel, θ is the reference wheelangle, Vin is the induced velocity on wheel, φ is the reference body
velocity angle, and Vb is the body velocity of robot.
Now Vin and Vw are always orthogonal:
Vb2 = Vw2 + Vin2 (1)
Also:
Vin2 = Vb2 + Vw2 - 2 Vw Vb cos(θ - φ)
= Vb2 + Vw2 - 2 Vw Vb (cosθ cosφ + sinθ sinφ) (2)
Substituting (2) into (1), we may obtain:
Vw = Vb(cosθ cosφ + sinθ sinφ ) (3)For a given rotational velocity of the centre of mass, w, each
wheel must apply velocity:
Vw= Rw (4)
where R is the distance of the wheel from the centre of mass.
Thus, for each wheel:
Vw = Vb(cosθ cosφ + sinθ sinφ ) + Rw (5)
This is a general equation that is independent of the number
of wheels. Consider a three wheeled omni-directional vehicle
with wheels arranged at angles of 0°, 120° and 240°, equation (5)
yields:
Wheel 1 (θ = 0°): Vw 1 = Vb cosθ +Rw
Wheel 2 (θ = 120°): Vw 2= Vb (-0.5 cosθ+0.866 sinθ)+Rw
Wheel 3 (θ = 240°): Vw 3= Vb (-0.5 cosθ-0.866 sinθ)+Rw
from
Mark Ashmore and Nick Barnes, Omni-drive robot motion on curved
paths: The fastest path between two points is not a straight-line

Omni-wheeled