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

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.