This article describes the process of mechanical designing for an omnidirectional mobile robot Odin. It provides an explanation of the relation between a mobile robotic stair climbing system with shaped wheels and omnidirectional wheels, which are used together in a combined locomotive system. Only a conception study of the whole system is presented. Testing of mechanical parameters and driving abilities of the omnidirectional wheels was performed on a constructed simplified chassis.There was created an experimental calculation for a flange with a clamp connection linking a 3D model. This simplified chassis was the basis of a mobile robot named Odin, which was further improved by mounting a modular manipulator Schunk on its top. The article concludes with an evaluation of the achieved progress and indicates ways of further possible development for the omnidirectional mobile robot Odin.
Science Journal 