Investigation of deviation of a differential drive autonomous mobile robot induced with caster wheels

Basit Öğe Kaydı
dc.authoridKibar, Ali/0000-0002-2310-1088
dc.contributor.authorKibar, Ali
dc.contributor.authorGurkall, Alaattin Eray
dc.contributor.authorOzer, Eylul
dc.contributor.authorInner, Alparslan Burak
dc.date.accessioned2024-09-29T16:06:49Z
dc.date.available2024-09-29T16:06:49Z
dc.date.issued2024
dc.departmentKarabük Üniversitesien_US
dc.description.abstractIn this study, the effect of caster wheels on the deviations in the direction of movement of Autonomous Mobile Robots (AMR) is investigated. An AMR designed to examine the driving effects of caster wheels was analyzed in CoppeliaSim. The Unified Robot Description Format (URDF) file of the caster wheels, designed in the CAD program, was transferred to the CoppeliaSim program. Two different AMRs, which were 75 and 150 kg in total weight, were used to examine the effect of the weight of the AMR. Three types of caster wheels, which were single, double, and dual axial, were used in the analysis. The diameter, axis of rotation, and the total height of the caster wheel parameters were kept constant to compare wheels for each case. The results suggest that single caster wheels cause the most deviation in turns of AMR. The deviation in the double caster wheel is lower than on the single wheel. Furthermore, the lowest amount of deviation is in the dual axial caster wheels. Additionally, the deviations occurring in the AMRs with double caster and dual swivel caster are not affected by the weight of the AMR.en_US
dc.identifier.doi10.2339/politeknik.1104014
dc.identifier.issn1302-0900
dc.identifier.issn2147-9429
dc.identifier.issue3en_US
dc.identifier.urihttps://doi.org/10.2339/politeknik.1104014
dc.identifier.urihttps://hdl.handle.net/20.500.14619/7063
dc.identifier.volume27en_US
dc.identifier.wosWOS:000957564600001en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherGazi Univen_US
dc.relation.ispartofJournal of Polytechnic-Politeknik Dergisien_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectAutonomous mobile roboten_US
dc.subjectdifferential driveen_US
dc.subjectcaster wheelsen_US
dc.subjectrobot simulationen_US
dc.titleInvestigation of deviation of a differential drive autonomous mobile robot induced with caster wheelsen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu