Active Steerable Driving Mechanism Using Two In-wheel Motors for Omnidirectional Motion of Robotic Mobile Platform

被引：0

作者：

Park, Susan ^{[1
]}

Lee, Yong-Jun ^{[1
]}

Ryoo, Young-Jae ^{[1
]}

Byun, Kyung Seok ^{[2
]}

机构：

[1] Mokpo Natl Univ, Dept Control Engn & Robot, 1666 Youngsan Ro, Jeonam, South Korea

[2] Mokpo Natl Univ, Dept Mech Engn, 1666 Youngsan Ro, Jeonam, South Korea

来源：

2016 JOINT 8TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 17TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS) | 2016年

基金：

新加坡国家研究基金会;

关键词：

omni-directional motion; rear steerable wheel; robotic platform;

D O I：

10.1109/SCIS&ISIS.2016.40

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an active steerable driving mechanism with in-wheel motors is proposed. Before designing the robotic mobile platform, active caster wheels and active steerable driving wheels are studied. For design of the robotic mobile platform, we discuss about active steerable wheel design. The omnidirectional motion through the digital design exploration of the robotic platform using active driving and steering wheel is examined. As the major mechanical components, an active steerable driving wheel and in-wheel motors are described. The design is established by rapid prototyping model of omnidirectional motion.

引用

页码：382 / 385

页数：4

共 30 条

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