Mobilní robot se všesměrovým podvozkem

Abstract

The bachelor thesis focuses on the research of currently available omnidirectional wheel chassis. The introductory part includes a survey of omnidirectional wheels, covering their historical development, principles of operation, and practical applications. Subsequently, an analysis of chassis designs utilizing Omniwheel and Mecanum technologies is conducted. The thesis also provides a detailed analysis of the mechanical properties of these wheels and their impact on the robot's movement capabilities. In the next phase, the current state of the Odin robot is analyzed, identifying missing and non-functional components, followed by a modernization plan. Finally, a simulation of three main types of movement is carried out in the CoppeliaSim simulation environment. The simulation is included as a separate file attached to the bachelor thesis.