Mobile Robots—AHP-Based Actuation Solution Selection and Comparison between Mecanum Wheel Drive and Differential Drive with Regard to Dynamic Loads

Mobile robots are increasingly used in industrial applications. There many constructive solutions for mobile using various variants of actuation and control. The proposed work presents a low-cost variant robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as solution. In first part, multicriteria analysis based on AHP was performed selection Then, software tools Simscape Multibody, Matlab, Simulink, models were developed that allowed simulation operation robot, both its kinematics dynamics. Using these models, wheel drive version differential studied means simulation. simulations mainly aimed at identifying way currents vary through order to find methods reduce them. values obtained later compared those experimentally, corresponding conclusions regard accuracy drawn.