Analysis and design of an omnidirectional platform for operation on non-ideal floors
Analysis and design of an omnidirectional platform for operation on non-ideal floors
复制标题
非理想楼层全方位作业平台分析与设计
DOI：
10.1109/robot.2002.1013444
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
S. Dubowsky
中科院分区：
文献类型：
--
作者：
M. Spenko;Haoyong Yu;S. Dubowsky
介绍了一种具有主动偏置分瓣脚轮（ASOC）的全向平台，并研究了其在非理想地板上的工作能力。结果表明，平台的所有驱动轮将始终与不平坦的地板保持接触，这是保持良好牵引力和航位推算能力所必需的条件。结果表明，规划算法开发一个理想的平面地板执行足够的一个现实的不均匀地板。此外，它示出的ASOC设计消耗更少的功率比其他传统的车轮全向设计，更适合于较重的负载。分析和实验结果。
An omnidirectional platform with an active offset split caster (ASOC) is described and its ability to operate on non-ideal floors is studied. It is shown that all of its driven wheels of the platform will remain in contact with an uneven floor at all times, a condition necessary to maintain good traction and dead-reckoning capabilities. It is shown that planning algorithms developed for an ideally flat floor perform adequately for a realistic uneven floor. Furthermore, it is shown that the ASOC design consumes less power than other conventional wheel omnidirectional designs and is more suitable for heavier loads. Analytical and experimental results are presented.