Robot Form Factors

Proxymow-Mower software is suitable for a variety of differential-drive 2 wheeled robots, but which is the best form-factor for mowing the lawn?.

Single Omniwheel Single Cutter

The simplest design has a single omniwheel, and a single cutter.

Advantages

This is a good design for anyone wanting to take their first steps into robotic mowing. It is also recommended if you don't have access to 3D printing facilities, because omniwheels can be time consuming to build from scratch. With battery weight centred over the rear half, this robot should perform well mowing forwards.

Disadvantages

Whilst the single cutter is well-positioned for edge mowing, the robot will have to reverse to reach safe space before rotating to point the cutter towards the next edge. Rotation is inefficient, and is to be avoided if possible. This design is not so stable in the reverse direction, and there may be a tendency to jam the cutter into the lawn.

Dual Omniwheel Single Cutter

This design has a 2 omniwheels, and a single central cutter.

Advantages

This is a more stable design which performs better on lumpy lawns.

Disadvantages

The central cutter is not well-positioned for edge mowing.

Quad Omniwheel Dual Cutter

This design has a 4 omniwheels, and dual cutters at the front and rear.

Advantages

This is an efficient design which eliminates needless rotation, and allows for edge mowing in both directions.

Disadvantages

The height of the 6 wheels need to be finely tuned to prevent the robot from getting beached on lumpy lawns, i.e. when the omniwheels make contact but the drive wheels spin in free air.