Andromina robot motions. A 4 directional wheel robot. (Arduino, Raspberry, PICAXE, ROS robot)

In this post I talk about the motions of the Andromina robot. I will show you all the moves you can make to the Andromina robot. To program all possible moves the robot has to have at least one Arduino MEGA and engine controller board of 4 channels. Thus we get the 4 wheels rotate and turn them completely independently.

Robot with wheels steered

OFF ROAD Andromina robot chassis.

In the market there are several 4-channel controller boards. I use for example the L280N model on the left in next picture, which is quite economical:.

Examples of DC motor drivers with 4 channels

The main feature of Andromina robot is its great maneuverability. The following figures schematically shows the robot, its twists and rotation of its 4 wheels. Red arrows indicate the direction of movement of its 4 wheels, the green arrow the direction of movement of the robot and the black dot indicates the center of rotation of the robot.

Straight motion.

Movements rotations of the  typical robots"speed difference".

Diagonal motion..

Lateral motion.

Turning movement of a car.

Four directional wheels turning.

Rotation respect to one of the 4 wheels

Rotation about the center axis of the front wheels.