Designing a Miniature Wheel Arrangement for Mobile Robot Platforms

TL;DR

This paper presents the design of a miniature wheel arrangement with a stepper motor for direction control on mobile robot platforms, enabling more complex steering schemes through grouping multiple units.

Contribution

It introduces a specific miniature wheel design using a stepper motor as an actuator for mobile robots, adaptable for complex steering configurations.

Findings

Design successfully implements direction control for wheeled robots.

Multiple units can be combined for advanced steering schemes.

The arrangement is suitable for specific types of wheeled robots.

Abstract

In this research report details of design of a miniature wheel arrangement are presented. This miniature wheel arrangement is essentially a direction control mechanism intended for use on a mobile robot platform or base. The design is a specific one employing a stepper motor as actuator and as described can only be used on a certain type of wheeled robots. However, as a basic steering control element, more than one of these miniature wheel arrangements can be grouped together to implement more elaborate and intelligent direction control schemes on varying configurations of wheeled mobile robot platforms.