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
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;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
DOI :
10.1109/ICIEA.2014.6931301
