The development of driving system with Differential Drive Steering System for omni-directional mobile robot

Author

Ueno, Yuki ; Ohno, Takashi ; Terashima, Kazuhiko ; Kitagawa, Hideo

Author_Institution

Dept. of Production Syst. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1089

Lastpage

1094

Abstract

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidirectional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.

Keywords

gears; mobile robots; robot kinematics; steering systems; vibration control; wheels; caster drive mechanism; differential drive steering system; driving torque; holonomic omnidirectional mobile robot; planetary gearing; ride comfort; steering torque; vibration suppression; Angular velocity; Friction; Interference; Mechatronics; Mobile robots; Steering systems; Synchronous motors; Tires; Vehicles; Wheels; Mobile robots; Movement; Ride comfort; Robot kinematics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246142

Filename

5246142