A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
| Autor: | Tatsuro Terakawa, Shinji Mikami, Kippei Matsuda, Masaharu Komori |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Motion analysis Computer science motion analysis Reliability (computer networking) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Mobile robot 02 engineering and technology Kinematics Mobile robot kinematics Computer Science Applications Axle 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering mobile robots Control and Systems Engineering Trajectory Robot Electrical and Electronic Engineering Omnidirectional antenna Simulation |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 23:1716-1727 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2018.2842259 |
| Popis: | Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots, such as automated guided vehicles (AGVs) due to their complicated wheel mechanisms. This paper proposes a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From above, we verify the effectiveness of SWOM as an omnidirectional mobile robot. |
| Databáze: | OpenAIRE |
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