Caster drive mechanisms for holonomic and omnidirectional mobile platforms with no over constraint
Caster drive mechanisms for holonomic and omnidirectional mobile platforms with no over constraint
复制标题
适用于无过度约束的完整全向移动平台的脚轮驱动机构
DOI：
10.1109/robot.2000.844814
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Mori
中科院分区：
文献类型：
--
作者：
M. Wada;A. Takagi;S. Mori
提出了一种用于完整全向机器人的具有新型轮机构的新型移动平台。驱动机构配有一对标准轮，采用差动驱动方式，由两个独立的电机驱动。由第三电机驱动的转向接头安装在差速驱动机构上偏离两轮中点的位置。因此，驱动机构具有双轮脚轮配置。首先，简要回顾了原始脚轮驱动的概念，然后对双轮脚轮机构进行运动学分析。设计、制造原型车并测试其机动性。提出了使用传统同步驱动机构的未来车辆设计的其他可能变化。还分析了驱动机构的运动学和静力学。通过所提出的同步驱动可以实现无过约束解耦控制的全轮驱动和高效驱动。
A new type of mobile platform with a novel wheel mechanism for holonomic and omnidirectional robots is presented. The drive mechanism equips with a couple of standard wheels in a differential-drive manner driven by two independent motors. A steering joint, driven by the third motor, is mounted on the differential drive mechanism at a location off-centered from a mid-point of the two wheels. Thus, the drive mechanism has a dual-wheel-caster configuration. First, the concept of the original caster drive is reviewed briefly followed by kinematic analysis of the dual-wheel-caster mechanism. A prototype vehicle is designed, built and its mobility tested. Other possible variation for the future vehicle design with a traditional synchro-drive mechanism is proposed. The kinematics and statics of the drive mechanism are also analyzed. All wheel driving without over constraint decoupled control and efficient driving can be achieved with the proposed synchro-drive.