Structure design of an omni-directional wheeled handling robot

Abstract In response to the demand for automated item handling, this paper proposes an omnidirectional wheeled handling robot. Firstly, determine that its mobile platform is based on design of Mecanum wheel, which can move safely and efficiently. Secondly, according common object shapes, a single-side opening closing insertion rack clamping mechanism proposed. Thirdly, in order meet needs transporting objects avoid interference with movement moving body, mechanical arm four-degree-of-freedom joint structure. Finally, decelerated AC servo motor self-locking function selected as drive motor, low-speed reducer used element body.