Robot base design

A few factors need to be considered when design a robot base.

• Driving power
• Complexity of mechanics design
• Complexity of kinematics
• Complexity of open loop control and feedback control

Following diagram layout a few commonly used design:

There is another important design call Omni-directional drive system with "Mecanum wheel". There is a video footage on http://www.airtrax.com/ website clearly shows vehicles moving sideways, turning on the spot, moving diagonally, and combining these movements.




References:
Thomas Bräunl, Embedded Robotics, 2nd edition, 2006
Christof Roehrig, Controller Design Experiments,1999