# Design and Development of an Omnidirectional Three-Wheeled Industrial Mobile Robot Platform
## 1 Introduction  
Omnidirectional mobile robots (OMRs) have gained significant attention in recent years due to their ability to move in any direction without the need for reorientation; this characteristic provides them with a remarkable advantage in maneuverability compared to other mobile platforms [1]. As a result, they have been increasingly adopted in various fields such as manufacturing, warehouse logistics, autonomous transport in hospitals, and service or personal assistance environments, as their versatility enables precise movements in constrained spaces, optimizing operation time and improving efficiency in automated tasks [2]. However, despite the wide implementation of omnidirectional robots, most research and commercial platforms are limited to low- or medium-payload applications, especially when using three-wheel configurations. Moreover, there is a lack of experimental studies that validate the dynamic and kinematic models of high-load 3A systems in controlled environments, particularly under open-loop control strategies. This research addresses these challenges by proposing and validating a robust three-wheel omnidirectional platform capable of handling up to 300 kgf, offering a valuable reference for future developments in heavy-duty mobile robotics. OMRs are commonly classified based on the number of omnidirectional wheels used, with three- and four-wheel configurations being the most prevalent. Although robots with three wheels, arranged at 120-degree intervals (known as the 3A configuration), areappreciated for their mechanical simplicity, lower cost, and ease of control--making them suitable for controlled environments or research purposes--they offer limited stability and payload capacity [3]. In contrast, four-wheel configurations provide enhanced weight distribution, better dynamic stability, and greater load-handling capabilities, making them preferable for more demanding industrial applications. This comes at the cost of increased mechanical and control complexity [4]. The decision between these configurations should balance structural simplicity, motion accuracy, payload requirements, and operational environment characteristics. In commercial applications related to material handling, a strong preference for four-wheel omnidirectional configurations has been observed, especially those using mecanum wheels; these systems allow for lateral, diagonal, and rotational motion with high precision. Platforms with this configuration tend to achieve the highest structural efficiency ratios, defined as the payload fraction. A high ratio indicates that these platforms can carry significantly more load compared to their own weight, which is crucial in industrial settings where space is limited and structural efficiency is a key factor [5]. Regarding the types of omnidirectional wheels used, the most common are omnire wheels and mecanum wheels [6]. Omniwheels feature rollers arranged perpendicularly to the main axis, allowing smooth movements on flat surfaces and requiring simpler control [7]. Mecanum wheels, on the other hand, have rollers positioned at diagonal angles, providing better traction and performance over slightly uneven surfaces [8]. However, they require more complex control algorithms to achieve precise motion and tend to generate more vibration during operation [9]. In this context, and from a mechatronic perspective, this article presents the development of an omnidirectional mobile robot prototype with three symmetrically arranged wheels at 120 degrees (3A configuration). The process begins with the kinematic and dynamic modeling of the system, including inverse kinematics and the derivation of dynamic equations based on the Jacobian matrix of the chosen configuration. The mechanical design stage involved the development of a custom omnidirectional wheel, followed by the design of the robot's platform structure. Both components are validated through finite element analysis (FEA) to assess stress distribution and determine appropriate safety factors.