🤖 Omni Directional Robot Platform - EN2160

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🌟 Project Vision

Revolutionizing Indoor Automation Through Intelligent Omnidirectional Mobility

This repository showcases the design and development of an Omni Directional Robot Platform engineered as part of the EN2160: Electronic Design Realization Module at the University of Moratuwa.

Our mission is to create a highly maneuverable, precise, and intelligent robotic platform capable of navigating complex indoor environments with ease.

This project shows how we apply theoretical concepts from electronics and control systems to build a practical solution that meets real-world challenges in automation and robotics.

This is an on-going project, where we are currently working on the Robot's Firmware and Control systems. The hardware is already completed and tested.

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🎯 Project Objectives

🎪 Mecanum Wheel Kinematics	🧠 Intelligent Positioning	⚙️ Precision Control
4-wheel Mecanum platform for unrestricted motion	Advanced position estimation algorithms	Real-time wheel control with sub-millimeter accuracy

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Complete Assembly

Internal view

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🔌 Electronic Systems

Motor Controller PCB	Motor Controller Enclosure
Main Controller PCB	Main Controller Enclosure

PCB Module	Function	Key Features
🔋 Power Distribution	Multi-rail power management	Fuse protection, LED diagnostics, screw terminals
🧠 Main Controller	System coordination and communication	4-layer design, SAM3X8E, BNO055, HC-05 integration
⚡ Motor Controller	Real-time motor drive and feedback	STM32F446RE, VNH5019 drivers, RS485 communication

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🏗️ System Architecture

⚡ Hardware Specifications

Component	Selection	Performance
🧠 Main MCU	SAM3X8E	84 MHz Cortex-M3
🎮 Motor Controller	STM32F446RE	180 MHz, Real-time loops
🔋 Drive Motors	24V 5Nm Planetary Gear	1:100 ratio, 120 RPM
🧭 Navigation IMU	Bosch BNO055	9-DOF sensor fusion
⚡ Motor Drivers	VNH5019 H-Bridge	30A peak current
🎯 Mecanum Wheels	Metal-core construction	Omnidirectional mobility
🔌 Power System	12V battery + regulation	Modular distribution
📡 Communication	RS485 + Bluetooth HC-05	Differential + wireless

🧠 Intelligence Stack

🎛️ Control Hierarchy

graph TD
    A[Python GUI Controller] <-->|Bluetooth| B[SAM3X8E Main Controller]
    B <-->|RS485| C[STM32F446RE Motor Controller]
    B <-->|I2C| D[BNO055 IMU]
    C -->|PWM| E[VNH5019 Motor Drivers]
    E --> F[Mecanum Wheels]
    
    

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🎯 Software Architecture

Layer	Function	Technology
🖥️ User Interface	Intuitive direction control and telemetry	Python Tkinter GUI
📡 Communication	Wireless command transmission and echo verification	Bluetooth Serial Protocol
🧠 High-Level Control	Command parsing, sensor fusion, system coordination	SAM3X8E Embedded C++
⚡ Real-Time Control	PWM generation, encoder processing, motor loops	STM32 Real-Time OS
🔧 Hardware Abstraction	Driver interfaces and peripheral management	HAL Libraries

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🧱 Mechanical Design & FEA Analysis

The mechanical design of the platform was optimized for both structural integrity and functional adaptability, with a focus on durability, vibration mitigation, and payload endurance.

🛠️ Structural Overview

• Material Selection: Stainless steel box bars with cantalie vibration dampening
• Fabrication: In-house welding, precision machining, and 3D printed PCB enclosures
• Design Philosophy: Balancing rigidity and modularity for both performance and ease of maintenance

📊 FEA Validation

Extensive Finite Element Analysis (FEA) was conducted to validate:

• Load-bearing capacity under dynamic and static conditions
• Results depicts chassis has a 900% safe margin
• Stress and deformation distribution across the chassis
• Vibration response under high-speed operation

CAD Model of Chassis

FEA Stress Distribution

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🚀 Applications & Use Cases

🏭 Industrial	🏥 Healthcare	🛒 Retail	🎓 Education
Logistics automation	Hospital transport	Inventory management	Research platform
Material handling	Supply delivery	Shelf restocking	STEM demonstrations
Quality inspection	Patient assistance	Customer guidance	Competition robotics

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👥 Team

🧑‍💻 Name	📧 Email
Pankaja Balasooriya	[email protected]
Oshani Dewasumithra	[email protected]
Chandupa Dineshara	[email protected]
Chamath Diunugala	[email protected]
Sahas Eshan	[email protected]
Rusiru Fernando	[email protected]
Banuka Liyanage	[email protected]
Rusula Oshadha Pathirana	[email protected]

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Made with ❤️ in Sri Lanka

Department of Electronic and Telecommunication Engineering

University of Moratuwa