Mechanical Design and Modeling of an Omni-directional RoboCup Player

Abstract. This paper covers the mechanical design process of an omni-directional mobile robot developed for the Ohio University RoboCup team player. It covers each design iteration, detailing what we learned from each phase. In addition, the kinematics of the final design is derived, and its inverse Jacobian matrix for the design is presented. The dynamic equations of motion for the final design is derived in a symbolic form, assuming that no slip occurs on the wheel in the spin direction. Finally, a simulation example demonstrates simple independent PID wheel control for the complex coupled nonlinear dynamic system.