Date of Award

11-2015

Document Type

Thesis - Open Access

Degree Name

Master of Science in Mechanical Engineering

Department

Graduate Studies

Committee Chair

Dr. Sathya Gangadharan

First Committee Member

Dr. Birce Dikici

Second Committee Member

Dr. Ilteris Demirkiran

Abstract

Mecanum wheel is a special kind of omni-directional wheel which is designed for robot vehicles. The purpose of this thesis is to work on geometry and working of Mecanum wheel rollers and to conduct experiments on these rollers to find its values of coefficient of friction in different conditions. This thesis also includes the work conducted to formulate the equations which can be used to find different parameters of roller for its motion, kinematics, rolling, friction and overall impact with respect to the working of a robot. The work is tested in experiments and the values are compared with previous research values to validate the data. At the end, the derived components are tested in DFM (Design for Manufacturing) and DFA (Design for Assembly) to calculate all possible cost factors in manufacturing and assembly of rollers. This research is done with the support of a company called Helical Robots. Helical Robots is a leading manufacturer of Mecanum wheels and robots.

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