A holonomic and omnidirectional vehicle based on a new type of wheel drive system is presented in this paper Multiple drive-casters are mounted on a drive unit where wheel axes and steering axes are mechanically coupled by transmissions respectively and driven and oriented by respective common motors. Omnidirectional translational motion of the vehicle is controlled by the motors driving and orienting the drive-casters. This drive train is similar to a conventional synchronous drive system with two motors for nonholonomic mobile robots, called "synchrodrive". However, proposed system needs the third motor for orienting a vehicle frame relating to the drive unit. Thus 3 DOF of the vehicle can be controlled by three motors, then the vehicle has no over constraint. First the concept of the original caster-drive is mentioned briefly, followed by the kinematics and statics analysis of the new drive mechanism. All wheel driving with individual suspensions, decoupled control without over constraint would be achieved with the proposed synchro-caster drive system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A synchro-caster drive system for holonomic and omnidirectional mobile robots


    Beteiligte:
    Wada, M. (Autor:in)


    Erscheinungsdatum :

    2000-01-01


    Format / Umfang :

    696720 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Development of a holonomic and omnidirectional mobile robot

    Wada, M. / Mori, S. | British Library Online Contents | 1997


    Holonomic drivetrain modules for mobile robots

    SEKICH DANIEL / WALKEMEYER PHILLIP / BLACKSBERG JACOB et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    LOW COST COLLISION AVOIDANCE SYSTEM ON HOLONOMIC AND NON- HOLONOMIC MOBILE ROBOTS

    Ravendran, Ahalya / Hsu, Chung-Hao | BASE | 2019

    Freier Zugriff

    Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot

    Yamada, T. / Watanabe, K. / Kiguchi, K. et al. | British Library Online Contents | 2001


    Design of wheel modules for non-holonomic, omnidirectional mobile robots in context of the emerging control problems

    Jacobs, Theo / Connette, Christian P. / Hägele, Martin et al. | BASE | 2012

    Freier Zugriff