Three-wheel Driven Omnidirectional Reconfigurable Conveyor Belt Design

In order to improve the sorting efficiency of logistics and reduce the fault tolerance rate, a three-wheel driven omnidirectional reconfigurable conveyor belt is designed in this paper. The conveyor belt we proposed is composed of a number of hexagonal modules, in which each hexagonal module has three omnidirectional wheels installed in different directions. By adjusting the speed of the omni-wheel, it is possible to move goods at a given speed, and adjust the attitude angle of goods in the process of movement so as to arbitrarily change the shipping pose. Furthermore, the algorithm of optimal path planning combining linear transportation and Dijkstra is considered.