Design of an omnidirectional and holonomic wheeled platform prototype

Conference · Tue Jan 01 00:00:00 EST 1991

OSTI ID:5710071

Killough, S M; Pin, F G

This paper presents the concepts for a new family of wheeled platforms which feature full omnidirectionality with simultaneous and independent rotational and translational motion capabilities. We first describe the original orthogonal-wheels assembly'' on which these platforms are based and discuss how a combination of these assemblies is used to generate an omnidirectional capability. The design and control of a prototype platform developed to test and demonstrate the proposed concepts is then described, and experimental results illustrating the full omnidirectionality of the platform with decoupled rotational and translational degrees of freedom are presented. 15 refs., 9 figs.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5710071
• Report Number(s): CONF-920540-7; ON: DE92000046
• Resource Relation: Conference: 1992 Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics and automation, Nice (France), 10-15 May 1992
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ROBOTS
MOTION
VEHICLES
AUTOMATION
DEGREES OF FREEDOM
DESIGN
NAVIGATION
ORIENTATION
WHEELS
420200* - Engineering- Facilities
Equipment
& Techniques