Wheel configuration
1. Clearpath Robotics Boxer
Specification Value
Dimension(L x W x H) 750 x 550 x 304 mm
Weight 127 kg
Payload 100 kg
Ground clearance 25-28mm
Maximum speed 2 m/s
Maxium incline/decline 0.5°
Description: Two traction wheels (differential) in rear, two omnidirectional wheels in
the front.
Advantage:
Good stability with four-wheel support, improving load distribution
compared to 3 wheels configurations.
Disadvantage:
More complex than 3 wheels configuration.
Limited incline capability (max 1% grade), restricting use on sloped or
non-flat floors.
Maintaining co-planarity among all four wheels is challenging, which
can affect stability and performance.
2. Omron LD Series Autonomous Mobile Robots
Description: Two traction wheels (differential) in center, one omnidirectional wheel
at each corner
Advantage:
Excellent load capacity with 6 wheels distributing weight evenly, ideal for
heavy material transport in warehouses.
Disadvantage:
Limited to flat, clean indoor floors (with no suspension)
Restricted slope handling, making it unsuitable for inclined or rough terrains.
Increased mechanical complexity from multiple wheels and casters, leading
to higher maintenance requirements and potential for component failure in
harsh conditions.
3. Omron Adept MobileRobots Pioneer 3-DX
Description: Two independently driven wheels in the front, one unpowered
omnidirectional wheel in the rear
Advantage:
Increased slope handling, suitable for inclined or rough terrains.
Simple Mechanism
Disadvantage:
Reduced stability, increased rollover chance when navigating sharp curves at
high speeds.
4. Black Gladiator-Tracked Robot
Specification Value
Dimension(L x W x H) 190 x 163 x 60 mm
Weight 0.6 kg
Maximum speed 0.5 m/s
Description: Two track drived by two motors.
Advantage:
The large surface area of the tracks (contact patch) results in very low ground
pressure, allowing the robot to traverse soft or loose terrain like mud, sand,
and snow without sinking.
Tracks can bridge small gaps and climb over obstacles significantly larger
than what a wheeled robot of similar size could manage.
The continuous engagement of the tracks with the ground provides superior
traction, enabling the robot to climb very steep inclines and navigate slippery
surfaces effectively.
Disadvantage:
Track systems consist of many moving parts that are prone to wear and
require regular cleaning, tensioning, and maintenance, especially when used
in dirty or abrasive environments.
5. Turtlebot4
Specification Value
Dimension(L x W x H) 342 x 339 x 351 mm
Weight 3945 g
Payload 9 kg
Maximum speed 0.46 m/s
Description: Two independently driven wheels in the back, one unpowered
omnidirectional wheel in the front.
Advantage:
Since three points define a plane, all three wheels will always remain in
contact with the ground, even on uneven surfaces (unlike the 4- and 6-wheel
designs). This prevents the loss of traction due to a wheel lifting off the
ground.
Disadvantage:
The triangular support polygon is inherently less stable than a rectangular
one, so the robot is prone to rollover, especially during high-speed turns.