Deformation Mechanism and Design of an Omni-directional Mobile Reconfigurable Robot

In this paper, an omni-directional mobile reconfigurable robot (OMRR) is developed. The Arduino is used as the main control board and the McNamum wheel chassis is used as the omnidirectional platform. The drive mode is symmetrical in structure and provides stable and balanced traction force. There are two types of OMRR: I shape and C shape, which are analyzed and studied. The OMRR dynamics model is established, and the deformation mechanism of the OMRR is analyzed. The motion performance and transformation process of the OMRR in different forms are studied, and the transformation process of the robot from I shape to C shape and from C shape to I shape is planned. The results show that the designed OMRR can move and transform stably, and can effectively pass through a narrow space, which verifies the feasibility of the design of the OMRR, and lays a foundation for the research of reconfigurable robot.