The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units-Reference-Cited by-同舟云学术

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

Published:2007-12-07 Issue:1 Volume:130 Page:
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Chen Chao¹,Ostrovskaya Svetlana²,Angeles Jorge²

Affiliation:

1. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada

2. Department of Mechanical Engineering, McGill University, Montreal, QC, H3A 2A7, Canada; Centre for Intelligent Machines, McGill University, Montreal, QC, H3A 2A7, Canada

Abstract

The dual-wheel transmission unit, an innovative driving mechanism for wheeled mobile robots, was introduced elsewhere. In this paper, we discuss wheeled mobile robots with such units, supplied with a novel suspension to keep the wheel-ground contact in spite of the irregularities of the floor. We derive closed-form solutions and constraints pertaining to the direct and inverse-kinematics problems of these robots; the constraints reveal the mobility of the robots at hand. Furthermore, we provide an algorithm for the trajectory tracking of the same robots that relies on a novel technique, which is termed the companion-curve method.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/doi/10.1115/1.2803254/5672142/011004_1.pdf

Reference16 articles.

1. Design of an Omnidirectional and Holonomic Wheeled Platform Prototype;Killough

2. Development of an Omni-Directional Mobile Robot With 3 DOF Decoupling Drive Mechanism;Asama

3. Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and Its Application to Wheelchairs;Wada;IEEE Trans. Rob. Autom.

4. Caster Drive Mechanisms for Holonomic and Omnidirectional Mobile Platforms With No Over Constraint;Wada

5. The Miniature Omnidirectional Mobile Robot Omnikity-i;Jung

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