Mechatronic Design and Kinematic Analysis of Land-Based, Holonomic-Type and Mecanum-Wheeled Mobile Robot for Queue Management in Supermarkets

The work provides solutions to make the model of the mobile robot model for supermarkets for the agglomeration of people in the lines where the payment is made or in areas where the products sold daily are located. For this reason, in 2022, innovative research has been carried out under the supervision of the Division of Robotics of the Professional School of Mechatronics Engineering of Ricardo Palma University, resulting in this project proposal, which is a robot holonomic-type in which an ESP32-CAM camera was implemented, for its movement and to avoid collisions with obstacles or people, HCSR-501 PIR sensors and a Makeblock 11001 Ultrasonic sensor. This study presents that a robot emits a voice message to communicate with people through a Gikfun EK1725 Speaker to maintain order inside supermarkets; it also has 4 mecanum omnidirectional wheels for better displacement. Thus, the SolidWorks software was used for mechanical design, the Arduino software for electronic design, besides the calculations for the kinematic model of a holonomic type 4-wheel omnidirectional robot were performed in the Matlab software, and the complete simulation of the robot used the environment referenced to a supermarket in the CoppeliaSim software, this study presents a virtual environment for testing the designed robots. It is intended to apply to supermarkets throughout Peru. In conclusion, a favorable result was achieved; consequently, the next step of this project is to develop a humanoid prototype with Artificial Intelligence integrated with purchase sensors to help people in the supermarket.