MOBILE ROBOT Russian patent published in 2012 - IPC B25J5/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics and can be used as a mobile robot or a self-propelled transportation trolley for use in workshops of industrial plants. The mobile robot has a platform, three wheels, three axle-trees on which wheels are mounted, three wheel prongs mounted on the platform, two electric motors, a turning angle sensor for the first wheel, a rotation detector the first wheel, a power supply and an onboard computer network. The axle-tree of the first wheel is kinematically connected to the output shaft of the first electric motor, the turning angle sensor for the first wheel and the rotation detector for the first wheel, and axes of the axle-trees of the first and second wheels lie on the same line. The robot also has a turning angle sensor for the second wheel and a rotation detector for the second wheel, which are kinematically connected to the axle-tree of the second wheel, which is kinematically connected to the output shaft of the second electric motor. The wheel prong of the third wheel used is a "royal" type prong. The onboard computer network can gather and process data from the turning angle sensors and rotation detectors of the first and second wheels and generate and transmit control signals to the electric motors of the first and second wheels.

EFFECT: high manoeuvrability of the mobile robot.

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