Development of an Omni-Directional Mobile Robot with 3 DoF Decoupling Drive Mechanism.
Open Access
- 1 January 1996
- journal article
- Published by The Robotics Society of Japan in Journal of the Robotics Society of Japan
- Vol. 14 (2) , 249-254
- https://doi.org/10.7210/jrsj.14.249
Abstract
A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.Keywords
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