KINETIC MODEL OF 4-WHEEL MACHANUM AUTOMATION VEHICLE

Abstract

Subject research kinematic model of mackanum 4-wheel automated transport vehicle by applying kinetic principles and related equations. The objectives of this research are as follows: 1) to design and build a four-wheel automatic vehicle, 2) to design a motion control command of a four-wheel automatic vehicle, 3) to create a model. Simulate the kinematics of the macanum 4-wheel automatic transport vehicle by choosing to use the vocational robot competition. "Medical Service" (VEC Robots: Medical Transportation) for the academic year 2020 by comparing the 4-step objective transport vehicle control system to test the vehicle's movement. Terrazzo patterned floor, moving 3 times per 0 kg payload, average time 10.73 minutes, 0.5 kg payload, averaging time 11.71 minutes, 1.0 kg payload, averaging time 12.06 minutes, 1.5 kg payload, averaging time 12.52 minutes. With A4 white paper moving 7 times per payload, 0 kg payload, average time 6.33 minutes, 0.5 kg payload, 6.35 min payload, 1.0 kg payload, 6.20 min payload, 1.5 kg payload, 6.36 min average time 2. Finger touch control system through the screen. Mobile (round trip) moves 3 times per payload Vehicle moving on a polished surface, payload 0 kg, average time 4.18 minutes, payload 0.5 kg, average time 4.20 minutes, payload 1.0 kg, average time 4.27 minutes, payload 1.5 kg, average time 4.73 minutes 3.Automatic system moves along a straight line 6 meter, travel 5 times per payload Vehicles moving on a polished surface with an average time of 0.63 minutes, vehicles moving on a flat surface supported by A4 white paper, an average time of 0.51 minutes, and 4. Finger touch controls via a mobile screen, straight line 6 meters, moving 5 times per payload. The vehicle moved on a polished surface, the average time was 0.41 minutes, the vehicle moved on A4 white paper, the average time was 0.43 minutes.