DocumentCode
128555
Title
Decoupled Powered Caster Wheel for omnidirectional mobile platforms
Author
Guilin Yang ; Yuanping Li ; Tao Ming Lim ; Chee Wang Lim
Author_Institution
Ningbo Inst. of Mater. Technol. & Eng., Ningbo, China
fYear
2014
fDate
9-11 June 2014
Firstpage
954
Lastpage
959
Abstract
This paper presents a novel design of a Powered Caster Wheel (PCW) that decouples the steering and rolling motions. The working principles and mechanical design of the PCW are introduced in details. Kinematic modeling, trajectory planning and control algorithms are derived for PCW-based omnidirectional mobile platforms. To demonstrate the new PCW design, a PCW prototype has been developed and an omnidirectional mobile platform based on the decoupled PCW has also been constructed and tested.
Keywords
design engineering; kinematics; rollers (machinery); steering systems; trajectory control; wheels; PCW prototype; decoupled powered caster wheel; kinematic modeling; mechanical design; omnidirectional mobile platforms; rolling motions; steering motions; trajectory control; trajectory planning; Angular velocity; Gears; Kinematics; Mobile communication; Pulleys; Trajectory; Wheels; decoupled design; omnidirectional mobile platform; powered caster wheel;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location
Hangzhou
Print_ISBN
978-1-4799-4316-6
Type
conf
DOI
10.1109/ICIEA.2014.6931301
Filename
6931301
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