4 research outputs found
Suboptimal Omnidirectional Wheel Design and Implementation
The optimal design of an omnidirectional wheel is usually focused on the minimization
of the gap between the free rollers of the wheel in order to minimize contact discontinuities with
the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and
heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension
system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile
robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot
can take advantage of its passive suspension system in order to also use non-optimal or suboptimal
omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the
proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of
taking advantage of the gap to operate outdoors. The experimental part of this paper compares the
vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal
omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces
comparable on-board vibration patterns while maintaining the traction and increasing the grip on
non-perfect planar surfaces.This research was funded by the MCI program, grant number PID2020-118874RB-I00
Study on biped foot systems and controls adaptable to various terrains
制度:新 ; 報告番号:甲2842号 ; 学位の種類:博士(工学) ; 授与年月日:2009/3/15 ; 早大学位記番号:新506