Abstract— This paper discusses the issue of the subsystem of mobility and solves the design of the lower mobile base for a robot called Baxter. In this paper you can see all the models and parts that are used in construction of mobile base, from which the initial model of the base is created. After making a model of a base, we were putting a load (represents the weight of a robot) on it so we could determine what kind of relative deformations and stresses are created by using finite element method analysis FEM. Later we optimised the base (for example we were changing the length dimensions of some parts), so we could get better results from FEM analysis and also, we wanted the optimised base to acquire similar dimensions and weight as a commercial base. At the end we created technical sheets of all the parts of the base. These technical sheets were later sent to university SIGMA in Clermont-Ferrand (France), from which they constructed mobile base for robot Baxter. FEM analysis was done in program called NX Siemens and models of individual parts were modelled in CATIA V5.
Keywords— mobile base, subsystem of mobility, service robot, Baxter, strength analysis, finite element method.
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