Development of Holonomic Omnidirectional Vehicle ""Vuton-II"" with Omni-Discs

We have been studying various types of omnidirectional driving mechanisms to realize holonomic power transmission for robotic manipulators and omnidirectional vehicles.These mechanisms have the same principle to realize holonomic power transmission. This principle of power transmission needs the mechanism with the active part and the passive part, and these active and passive parts should be perpendicular to each other. When the active part provides thrust to one direction, the passive part moves in the perpendicular direction to it smoothly without large frictional resistance. The omnidirectional wheel mechanism with the disc structure and the gear mechanism with passive rollers, that are introduced in this paper, move with the same principle described above.In this paper, we show the possibility of this locomotion principle and the development process with the spiral up approach to realize the novel omnidirectional power transmission functions for various applications.

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“…To realize the holonomic omnidirectional motion, the omni-disc with three-dimensional parallel link was developed as shown in Figure 2 [1].…”

Section: The First Prototype Of the Omni-disc With Passive Wheelsmentioning

confidence: 99%

Study on omnidirectional driving mechanisms to realize holonomic power transmission

Tadakuma

Arimie

2013

Mhs2013

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“…e.g. mecanum wheels, ball wheels, omni-disks and omni -wheels [3][4][5] . These mobile robots have the full mobility and can move arbitrarily on a flat floor, with two independent translations, in the x-and y-directions, plus a rotation in the plane.…”

Section: Introductionmentioning

confidence: 99%

Development of an omni-directional mobile robot with two automated guided driving modules

Zhu

Shi

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Wheeled mobile robots equipped with normal tires are used widely for transporting materials in industrial fields. High maneuverability especially omni-directional mobility in the floor is desired in narrow or crowded areas. An omni-directional mobile robot is developed in this paper by using two automated guided driving modules in a tandem layout. Each module has a suspension-like mechanism on the upper layer and a rotatable driving chassis with powered wheels on the lower layer. A kinematics model is built for this mobile robot, and a cross coupling control algorithm is developed for its omni-directional movement. An on-board camera is placed on the center of the robot to measure its pose deviations with respect to guide paths. In order to improve the accuracy of vision measuring, a plane target with the grid pattern is used to calibrate the intrinsic, distortion and extrinsic parameters of the on-board camera. This camera is then used to measure the pose deviations in the omni-directional motion experiment. The experiment results show the feasibility of that the combination of two guided driving modules can be used to improve the maneuverability of mobile robots.

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Intelligent control of a modular power assisted stretcher for indoor application

Dechathanat¹,

Seksan²,

Pramot

et al. 2019

IOP Conf. Ser.: Mater. Sci. Eng.

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This paper presents the development of an intelligent control of a modular power assisted stretcher movement on flat and sloped floors for indoor environment. Conceptual design techniques are used to select the best concept for prototyping power assist systems. The operator's movement intention and related voltage data is sensed by an Eight-axis hall effect sensor. It proposes the use of PID controller to optimize and maintain the velocity of the stretcher adapted to different weight and floor conditions. A stepping motor is applied to drive each wheel to respond appropriately to different floor and steering conditions (flat or sloped, straight section or turns). Without assistance it would be impractical for an operator to move a loaded stretcher (with patient and accessories) weighing up to approximately 100 kg on 15 degrees straight slope-up / slope-down floor sections. The power assist application turns this into an easy operation.

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Development of Holonomic Omnidirectional Vehicle ""Vuton-II"" with Omni-Discs

Cited by 13 publications

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Study on omnidirectional driving mechanisms to realize holonomic power transmission

Study on omnidirectional driving mechanisms to realize holonomic power transmission

Development of an omni-directional mobile robot with two automated guided driving modules

Intelligent control of a modular power assisted stretcher for indoor application

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