Implementation of holonomic kinematics in industrial vehicles

The forklift is an industrial vehicle used for transporting different loads indoors (warehouses) and outdoors. It usually has 2 prongs for lifting and 4 wheels. This prototype aims to solve the lack of maneuvering space typical in crowded warehouses by replacing the regular wheels with omnidirectional Mecanum wheels for different types of movement. It uses 2 dual motor drivers (H-Bridge) for the 12V DC motors and one driver for the lifting mechanism with high torque stepper motor. The power is supplied from a 11.1V 2700mAh LiPo for the motors and for the other circuits. The robot is controlled with a mobile phone.