OPTIMIZATION OF OMNI-WHEELED ROBOT BASE DESIGN WITH VARIATIONS IN WHEEL CONFIGURATION AND FRAME PROFILE USING FINITE ELEMENT METHOD
DOI:
https://doi.org/10.36257/austenit.v18i1.11336Keywords:
Autodesk Fusion 360 , Based Design, Finite element metho Mesh Convergence, Omni-wheeled robotAbstract
This research focuses on optimizing the design of an omni-wheeled robot base by exploring variations in wheel arrangements and frame profiles through the Finite Element Method. Three-wheel configurations were examined: the X-Drive configuration (four wheels at a 45° angle), a four-wheel side arrangement, and a circular four-wheel setup. Each configuration was assessed using two different frame materials aluminum hollow 6061 and aluminum extrusion profile 6063. FEM simulations were carried out to evaluate von mises stress, total deformation, and safety factor for each model. The findings reveal that the aluminum hollow 6061 frame outperforms the aluminum extrusion profile 6063, showing lower stress values, minimal deformation, and higher safety factors. The M2 configuration (four wheels on the sides) with aluminum hollow 6061 recorded the lowest stress (14.163 MPa) and the highest safety factor (15). Meanwhile, the smallest deformation (0.01 mm) was observed in the M1 design for both aluminum hollow 6061 and aluminum extrusion profile 6063 materials. The outcomes of this research present an optimal design recommendation applicable to KRAI robots as well as other types of omni-wheeled robots.
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