Design of a modular locomotion system for autonomous mobile robots

Autonomous mobile robots are becoming more popular today and successfully integrated into many civil industrial projects. In the sectors flexibility modularity have an important role, so production can be diversified achieved with low costs. This paper presents conceptual functional design of a modular locomotion system for autonomous platform that configured according to needs environment it serves. The architecture is based on spring suspension three types wheels: conventional wheels, omnidirectional wheels mechanum wheels. calculations chosen presented, which ensure contact ground each type wheel resignation engine will drive wheel. Finally, some variants configurations presented made these modules.