Course Information
Course Code: EEET2610 Course Name: Engineering Design 3 Project: Design of a Mecanum Robot with Autonomous Behavior Duration: 12 weeks Team Size: 5-6 members from different programsProject Objective
Design and build a Mecanum wheel robot with four motors and encoders, capable of autonomous behavior. This project will greatly contribute to your engineering portfolio, as it combines elements of:- Mechanical Design - CAD modeling, 3D printing, assembly
- Electrical Design - PCB design, wiring, power management
- Embedded Systems - Microcontroller programming, motor control, sensors
- Autonomous Robotics - ROS2, SLAM, navigation, computer vision
- Project Management - Team coordination, timeline planning, deliverables
What is a Mecanum Wheel Robot?
A Mecanum wheel robot is a type of mobile robot consisting of four special wheels based on rollers. It is designed for maneuverability, making it ideal for tasks like:- Warehouse packaging - Navigate tight spaces and move in any direction
- Automated Guided Vehicles (AGVs) - Industrial material transport
- Omnidirectional wheelchairs - Enhanced mobility for users
- Research platforms - Study advanced motion control algorithms
Work Package Structure
The project is divided into 5 Work Packages (WP), each with specific deliverables:WP1: Simulation with MATLAB
Duration: 4 weeks Deliverables:- D1.1: Kinematics of the Mecanum robot (1 week)
- D1.2: Trajectory planning and visualization (3 weeks)
- Derive kinematics equations for Mecanum wheel motion
- Implement forward and inverse kinematics in MATLAB
- Simulate trajectories (square, circle, custom paths)
- Analyze how wheel size and robot footprint affect movement
WP2: Prototyping of the Mecanum Robot
Duration: 4 weeks (can overlap with WP1) Deliverables:- D2.1: CAD modeling of the system (4 weeks)
- D2.2: PCB design and electrical wiring (4 weeks)
- Create 3D CAD model (Fusion 360 or SolidWorks)
- Generate bill of materials (BOM) with fasteners
- Design PCB or wiring diagram (EasyEDA or Cadence)
- Plan for 3D printing (max 2 prints per group)
WP3: Embedded and Control System
Duration: 4-6 weeks Deliverables:- D3.1: DC motor control with PID controller
- D3.2: Integration of IMU ICM-20948
- Set up ESP32 development environment (VSCode + PlatformIO)
- Read encoder values from DC motors
- Implement PID controller for position/velocity control
- Establish serial communication with computer
- Integrate and calibrate IMU sensor
WP4: Autonomous Implementation with ROS2
Duration: 8-10 weeks (most complex work package) Deliverables:- D4.1: LiDAR implementation (4 weeks)
- D4.2: Camera implementation (4 weeks)
- D4.3: Navigation and Mapping (4 weeks)
- Install Ubuntu and ROS2 Jazzy on development computer
- Create robot description (URDF)
- Implement ros2_control for motor control
- Set up LiDAR A1M8 for obstacle detection
- Implement SLAM (Simultaneous Localization and Mapping)
- Configure Nav2 for autonomous navigation
- Optional: Camera-based object detection and AprilTags
WP5: Integration and Pitch Presentation
Duration: 2-3 weeks Deliverables:- D5.1: Full integration of mechatronics system (2 weeks)
- D5.2: PowerPoint video presentation (1 week)
- Integrate all subsystems (mechanical, electrical, embedded, ROS2)
- Demonstrate autonomous behavior aligned with SDG goals
- Prepare live demonstration
- Create professional team video presentation (10-15 min)
Timeline and Milestones
Important: Information on Canvas has higher priority than this document if there are discrepancies. Always check Canvas for official deadlines.
Suggested Timeline (12-week semester)
| Week | Work Packages | Key Milestones |
|---|---|---|
| 1-2 | Project Proposal | Team formation, contract, literature review |
| 2-5 | WP1 & WP2 | MATLAB kinematics, CAD design, order components |
| 4-8 | WP3 | ESP32 setup, motor control, PID tuning, IMU |
| 5-12 | WP4 | ROS2 installation, URDF, SLAM, navigation |
| 11-12 | WP5 | System integration, testing, presentation |
Major Deliverables
1. Project Proposal (Week 2-4)
Format: PDF document Includes:- Abstract
- Introduction and background research
- Task descriptions for each work package
- Gantt chart with timeline
- Bill of Materials (BOM) with costs
- Stakeholder analysis
- Risk analysis table
- Team introduction and signed team contract
- References (min. 80% journal articles)
2. Interim Reports
Check Canvas for specific interim report requirements and deadlines.3. Final Demonstration (Week 12)
Location: Demonstration day with stakeholders Requirements:- Robot moves with keyboard/joystick/web app control
- MATLAB simulation demonstrates robot kinematics
- LiDAR mapping of environment
- Autonomous navigation to waypoints
- Demonstration addresses one or more SDG goals
- Backup plan if hardware fails (show work-in-progress)
4. Video Presentation (Week 12)
Format: Video (10-15 minutes) Content:- Each team member presents a technical section
- Professional quality video and audio
- Demonstrates understanding of all work packages
- Showcases robot capabilities
5. Final Report (Week 12)
Format: PDF following provided template Content:- All work packages documented
- Results, analysis, and discussion
- Lessons learned and future work
- Professional figures, tables, and references
Assessment Criteria
Technical Competence (40%)
Technical Competence (40%)
- Correctness of kinematics and control algorithms
- Quality of CAD and PCB designs
- Embedded system functionality (PID, IMU)
- ROS2 implementation (SLAM, navigation)
- System integration and demonstration
Documentation & Communication (30%)
Documentation & Communication (30%)
- Project proposal quality and completeness
- Final report clarity and professionalism
- Video presentation quality
- Code documentation and organization
- Proper use of figures, tables, and references
Teamwork & Project Management (20%)
Teamwork & Project Management (20%)
- Team contract adherence
- Meeting attendance and participation
- Task distribution and collaboration
- Git/GitHub usage for version control
- Response to peer feedback
Innovation & Problem Solving (10%)
Innovation & Problem Solving (10%)
- Creative solutions to technical challenges
- Additional features beyond requirements
- SDG alignment and impact
- Debugging and troubleshooting approach
Hardware Components
Provided/Required Components
- Microcontroller: ESP32 development board
- Motors: DC motors 12V 333RPM with encoders (4x)
- Motor Driver: IBT-2 (BTS7960) H-bridge (4x)
- IMU: ICM-20948 9-axis inertial measurement unit
- LiDAR: RPLIDAR A1M8
- Camera: Raspberry Pi Camera Module V3 (optional)
- Computer: Raspberry Pi 4/5 (onboard computer for ROS2)
- Power: 12V battery (LiPo, Li-Ion, or LiFePO4)
- Mecanum Wheels: 4x with appropriate diameter
- Structural Materials: 3D printed parts, fasteners, wiring
Key Resources
Software Tools
- MATLAB - Simulation and kinematics
- Fusion 360 / SolidWorks - CAD design
- EasyEDA / Cadence - PCB design
- VSCode + PlatformIO - ESP32 development
- ROS2 Jazzy - Autonomous robotics framework
- Git / GitHub - Version control
Development Environment
- Ubuntu 24.04 (Noble) - Required for ROS2
- Virtual Machine or Dual Boot - For running Ubuntu
- Raspberry Pi OS / Ubuntu Server - Onboard computer
Documentation
- All documentation must follow the provided template
- Figures must be high quality, centered, and referenced in text
- References should be primarily journal articles (max 20% web sources)
Important Notes
Report Template: If your document doesn’t look like the provided template, you’re using the wrong format. Download and use the official template.
Next Steps
Ready to start? Here’s what to do next:Check Prerequisites
Ensure you have the required knowledge and tools
Form Your Team
Learn about team contracts and collaboration
Project Proposal
Start your project proposal and literature review
Begin WP1
Start with MATLAB simulation