# Design and Development of an Omnidirectional Three-Wheeled Industrial Mobile Robot Platform
## 7 Discussion and Conclusions  
In the mathematical model, the center of gravity of the load was considered to be coincident with the center of the platform, which in reality is not so, causing the motors to try to exert a torque greater than those calculated by the simulation. To avoid including this condition in the calculation, the reduction was increased.  
The experiments performed with the kinematic and dynamic model allowed to evaluate the performance of the three-wheeled omnidirectional mobile robot. It was determined that the motors reach a speed of 300 rpm and a torque of 9 Nm. With the 4:1 reduction provided by the belt system, the wheels achieved a maximum speed of 75 rpm and a torque of 36 Nm.  
In terms of load capacity, the prototype can move up to 150 kgf in automatic mode and 300 kgf in teleoperated mode. However, higher loads such as 300 kgf would be desirable, suggesting the need to replace the belt drive with a worm and pinion system. The use of a pinion and worm gear-based transmission system would allow a reduction ratio of 20:1 to be achieved, which would increase torque to 180 Nm. Nonetheless, this modification would reduce the wheel speed to 15 rpm, so it would be necessary to evaluate its impact on the overall performance of the robot platform.  
In addition, it has been identified that the rated torque of the motor is directly related to the weight of the platform. In turn, the weight of the platform depends on its size, which is conditioned by the dimensions of the internal elements. Therefore, it is essential to establish a balance between these variables in order to optimize the system design.  
The current material of the rollers is Duralon, which is made of fiberglass and epoxy resin. This provides high mechanical strength, good damping capacity (elasticity), and water repellency, avoiding moisture absorption.  
Finally, as future work, the following is recommended:  
* Currently, the robot platform is powered by a power cable. A lithium battery system, accompanied by an adequate calculation of its capacity in ampere-hours to ensure optimal autonomy, would be beneficial for the system. In this case, it would be essential to design an efficient charging and discharging circuit to protect the batteries and optimize their performance. With this improvement, an autonomous platform will be achieved, increasing its mobility and versatility in different applications.
* Location sensors such as GPS and/or distance sensors can be used to detect and achieve obstacle avoidance.
* The microcontroller can be replaced by a computer or a more powerful processor, as the algorithms are currently implemented and run on an external computer.  
Conceptualization, J.J.Y.-F., J.G.V., E.D.O., C.B. and A.J.; methodology, J.J.Y.-F. and J.G.V.; software, J.J.Y.-F.; validation, J.J.Y.-F. and J.G.V.; formal analysis, J.J.Y.-F.; investigation, J.J.Y.-F. and J.G.V.; resources, J.J.Y.-F. and J.G.V.; data curation, J.J.Y.-F. and J.G.V.; writing--original draft preparation, J.J.Y.-F.; writing--review and editing, J.G.V.; visualization, J.J.Y.-F.; supervision, J.G.V., E.D.O., C.B. and A.J.; project administration, J.G.V. and C.B.; funding acquisition, J.G.V., E.D.O. and C.B. All authors have read and agreed to the published version of the manuscript  
The research leading to this result received funding from projects \"iRoboCity2030-CM, Robotica inteligente para ciudades sostenibles\" (TEC-2024/TEC-62) and \"FotoArt5.0-CM, Laboratorios inteligentes para la ciencia del futuro\", (TEC-2024/TEC-308) funded by \"Programas de Actividades I+D en Tecnologias de la Comunidad de Madrid\".  
Not applicable.  
Data Availability Statement: No new data were created or analyzed in this study. Data sharing is not applicable to this article.  
Acknowledgments: The authors would like to thank [PERSON] for his support during the research.