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Title: A fully omnidirectional wheeled assembly for robotic vehicles

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.
Authors:
;  [1]
  1. (Oak Ridge National Lab., TN (USA))
Publication Date:
OSTI Identifier:
6268996
Report Number(s):
CONF-900608-
Journal ID: ISSN 0003-018X; CODEN: TANSA; TRN: 91-009323
Resource Type:
Conference
Resource Relation:
Journal Name: Transactions of the American Nuclear Society; (USA); Journal Volume: 61; Conference: American Nuclear Society (ANS) annual meeting, Nashville, TN (USA), 10-14 Jun 1990
Country of Publication:
United States
Language:
English
Subject:
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