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Vol. 9, No. 3, August 2024

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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

Kinematic of 3-Wheels Swerve Drive Using BLDC Motor

https://doi.org/10.22219/kinetik.v9i3.1995
Arif Anwar Rosyidin
Politeknik Negeri Malang
Indrazno Siradjuddin
Politeknik Negeri Malang
Ratna Ika Putri
Politeknik Negeri Malang
Mas Nurul Achmadiah
Politeknik Negeri Malang

Corresponding Author(s) : Mas Nurul Achmadiah

masnurul@polinema.ac.id

Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, Vol. 9, No. 3, August 2024

Abstract

The stability of the robot's performance is very important, especially for the wheeled mobile robots that use swerve drives, which need kinematic control to reach the destination point. The study of robot movement known as kinematics is based on an examination of the geometric structure of the robot, with no consideration given to the mass, force, or acceleration that the robot experiences during movement. This study aims to model and simulate the kinematic control design of a wheeled robot that uses a swerve drive. This robot uses BLDC motor actuator so that the robot can reach its destination very quickly and steadily. The test is carried out by simulating and comparing the performance response using BLDC motors and DC motors. According to the testing and trials, the robot can reach its destination by modeling its kinematic control, and BLDC motors are found to be more reliable and efficient for driving and steering than DC motors.

Keywords

Wheeled mobile robot Kinematic Swerve drive BLDC motor
Rosyidin, A. A., Siradjuddin, I., Putri, R. I. ., & Achmadiah, M. N. (2024). Kinematic of 3-Wheels Swerve Drive Using BLDC Motor. Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, 9(3), 297-306. https://doi.org/10.22219/kinetik.v9i3.1995
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