개별 포크 구조를 가지는 전방향 이동로봇의 메카넘휠 설계 및 제작에 관한 연구

The Study of Design and Manufacture of Individually Fork-Shaped Mecanum Wheel for Omni-Directional Moving Robot

This paper deals with the design and manufacture of individual fork-type macanum wheels for application to omnidirectional mobile robots. For this purpose, design formulas were reviewed first, and design variables were calculated by creating Excel programs for accurate and simple calculations. Based on the variables designed, the design drawings were prepared and durability was verified through structural analysis. Afterwards, the basic function was confirmed by making a model using a 3D printer, and the final mecanum wheel was produced.