A fully omnidirectional wheeled assembly for robotic vehicles

Conference · Fri Jun 01 00:00:00 EDT 1990 · Transactions of the American Nuclear Society; (USA)

OSTI ID:6268996

Killough, S M; Pin, F G ^[1]

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1. Oak Ridge National Lab., TN (USA)

A large number of wheeled or tracked platform mechanisms have been studied and developed to provide their mobility capability to teleoperated and autonomous robot vehicles. This paper presents an original wheeled platform based on an orthogonal wheel assembly that provides a full (three-degrees-of-freedom) omnidirectionality of the platform without wheel slippage and with the capability for simultaneous motions in rotation and translation (including sideways movements). A schematic of the basic wheel assembly is shown. The motion of the assembly is unconstrained (freewheeling) in the direction parallel to the main assembly shaft, while it is constrained in the direction perpendicular to the shaft, being driven in this direction by rotation of the shaft. A prototype platform was constructed to demonstrate the feasibility of this new concept.

• OSTI ID: 6268996
• Report Number(s): CONF-900608-; CODEN: TANSA; TRN: 91-009323
• Journal Information: Transactions of the American Nuclear Society; (USA), Vol. 61; Conference: American Nuclear Society (ANS) annual meeting, Nashville, TN (USA), 10-14 Jun 1990; ISSN 0003-018X
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
CONTROL SYSTEMS
WHEELS
VEHICLES
AVAILABILITY
DEGREES OF FREEDOM
GEOMETRY
MOTION
RELIABILITY
ROTATION
MATHEMATICS
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers