Design &amp; Kinematics Analysis of a Tracked Omnidirectional Mobile Platform

Huang, Tao

doi:10.3901/jme.2014.21.206

Cited by 2 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The typical layout types of tracked omni-vehicles and other tracked omni-robots are mainly rectangular (Mortensen Ernits et al, 2017;Zhang and Yang, 2018;Huang et al, 2014;Singh et al, 2017;Hua and Zhang, 2019; denoted Type I), hybrid (Yang et al, 2019a, b;Liu et al, 2018; denoted Type II), and centripetal layouts (Chen et al, 2002;Roh et al, 2013;Y. Zhang et al, , 2019Zhang, 2018;X.…”

Section: Typical Layout and Ideal Kinematics Equationmentioning

confidence: 99%

“…It has unparalleled advantages in narrow areas requiring high speed and high mobility (Wang, 2018). With the exception of robots containing running mechanisms similar to universal wheels (caster wheels) (Cao, 2018;Clavien et al, 2018;Yang et al, 2018) and robots in the form of a single ball (Karavaev and Kilin, 2017;Madhushani et al, 2017), omnidirectional mobile robots are divided into wheeled and tracked omni-robots according to different running mechanisms.…”

Section: Introductionmentioning

confidence: 99%

“…The center-point steering theory of a traditional tracked vehicle (such as the tank) cannot be directly applied to a tracked omni-robot. For a tracked omni-vehicle with a rectangular layout, Huang et al (2014) analyzed the velocity relationship between the base point on the track grounding section and the maximum slip point during the steering process and obtained the relationship between the maximum steering slip ratio and the structural parameters of the vehicle. Huang et al (2014) lacked analysis of other points on the track except the maximum slip point.…”

Section: Introductionmentioning

confidence: 99%

“…For a tracked omni-vehicle with a rectangular layout, Huang et al (2014) analyzed the velocity relationship between the base point on the track grounding section and the maximum slip point during the steering process and obtained the relationship between the maximum steering slip ratio and the structural parameters of the vehicle. Huang et al (2014) lacked analysis of other points on the track except the maximum slip point. The maximum steering slip ratio cannot represent all the characteristics of the center-point steering motion of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Fang¹,

Zhang²,

Shang³

et al. 2021

Mech. Sci.

Self Cite

View full text Add to dashboard Cite

Abstract. Existing center-point steering models of a tracked omni-vehicle seldom consider the skid of the track (roller) grounding section, which is inconsistent with the actual steering process. In this study, for the three typical layout types, rectangular, hybrid, and centripetal, the steady center-point steering motion of a tracked omni-vehicle under skid conditions is analyzed and a correction model is investigated. The numerical solution of the absolute lateral offset of the steering pole is obtained, and the influences of various structural parameters on the numerical solution are discussed. The steering angular velocity reduction coefficient is calculated, and the angular velocity of vehicles is corrected. The simulation of center-point steering motion is carried out on eight virtual prototypes, and the center-point steering motion experiment is carried out on three physical prototypes. The results show that the established correction model is more in line with the steering reality of the tracked omni-vehicle, and it can play a role in correcting the center-point steering angular velocity.

show abstract

Section: Typical Layout and Ideal Kinematics Equationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Fang¹,

Zhang²,

Shang³

et al. 2021

Mech. Sci.

Self Cite

View full text Add to dashboard Cite

show abstract

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

Fiedeń

Bałchanowski

2021

Applied Sciences

View full text Add to dashboard Cite

This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.

show abstract

Design & Kinematics Analysis of a Tracked Omnidirectional Mobile Platform

Cited by 2 publications

References 0 publications

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Center-point steering analysis of tracked omni-vehicles based on skid conditions

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

Contact Info

Product

Resources

About