The development of driving system with Differential Drive Steering System for omni-directional mobile robot
The development of driving system with Differential Drive Steering System for omni-directional mobile robot
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DOI：
10.1109/icma.2009.5246142
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发表时间：
2009-09
期刊：
影响因子：
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通讯作者：
Yuki Ueno;T. Ohno;K. Terashima;H. Kitagawa
中科院分区：
文献类型：
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作者：
Yuki Ueno;T. Ohno;K. Terashima;H. Kitagawa
全方位移动的机器人以其高机动性在狭窄或拥挤的区域中非常有用，而配备普通轮胎的全方位机器人则需要跨越高度差、振动抑制和乘坐舒适性。为了实现完整的全方位机器人，人们已经发展了一种使用普通轮胎的脚轮驱动机构，但仍存在一些问题。提出了一种有效的全方位移动的机器人脚轮驱动轮控制系统。提出了一种采用行星齿轮传动的差速驱动转向系统（DDSS），以提高电动机的工作效率。DDSS通过两个电机有效地产生驱动和转向扭矩。仿真和实验结果表明，所提出的系统是有效的完整全向移动的机器人。
Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.