Title :
Design and modeling of a novel single-actuator differentially driven robot
Author :
Sfeir, Joy ; Shammas, Elie ; Asmar, Daniel
Author_Institution :
Dept. of Mech. Eng., American Univ. of Beirut, Beirut, Lebanon
Abstract :
In this paper, we introduce a concept design for a single-actuator differentially driven robot. The design is based on connecting two variable-diameter wheels to the same drive shaft. The wheels are designed to have engineered stiffness so that the diameters of the wheels are varied by shifting the weight of the drive mechanism from side to side. We also develop the kinostatic and dynamic models of the mobile platform, which is used later to perform motion planning techniques.
Keywords :
actuators; design engineering; mobile robots; path planning; robot dynamics; wheels; drive shaft; dynamic models; engineered stiffness; kinostatic models; mobile robot platform; motion planning techniques; single-actuator differentially driven robot design; single-actuator differentially driven robot modelling; variable-diameter wheels; Equations; Mathematical model; Mobile robots; Shafts; Wheels; Zirconium;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878224
