Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism

Author

Byun, Kyung-Seok ; Kim, Sung-Jae ; Song, Jae-Bok

Author_Institution

Dept. of Mech. Eng., Korea Univ., Seoul, South Korea

Volume

1

fYear

2002

fDate

2002

Firstpage

720

Abstract

An omnidirectional mobile robot equipped with four independent omnidirectional wheels can perform 3 DOF motion and has one redundant DOF. This redundancy can be used to drive the mechanism enabling the wheel arrangement to vary, which can function as a continuously-variable transmission (CVT). In this research, a special mechanism called a variable wheel arrangement mechanism is proposed to increase the range of velocity ratio for the CVT from the wheel velocities to robot velocity, which may improve performance of the mobile robot. A mobile robot with this mechanism was constructed and various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism.

Keywords

mobile robots; robot dynamics; robot kinematics; 3 DOF motion; continuously-variable transmission; four-wheeled omnidirectional mobile robot; variable wheel arrangement mechanism; velocity ratio; Actuators; Gears; Laboratories; Mechanical engineering; Mobile robots; Stability; Testing; US Department of Energy; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013443

Filename

1013443