NDLI: Novel differential drive steering system with energy saving and normal tire using spur gear for an omni-directional mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Ueno, Y. Ohno, T. Terashima, K. Kitagawa, H. Funato, K. Kakihara, K.
Copyright Year	2010
Description	Author affiliation: KER CO., LTD, Yutakagaoka, Toyokawa, Aichi, Japan (Funato, K.; Kakihara, K.) \|\| System and Control Labolatory, Production System Engeneering, Toyohashi University of Technology, Hibarigaoka, Tempaku, Aichi, Japan (Ueno, Y.; Ohno, T.; Terashima, K.) \|\| Department of Electrical Control Engineering, Gifu National College of Technology, Kamimakuwa, Motosu, Japan (Kitagawa, H.)
Abstract	Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster-drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. Here we describe effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We propose a Differential-Drive Steering System (DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots.
Starting Page	3763
Ending Page	3768
File Size	1495143
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509908
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Steering systems Tires Gears Mobile robots Wheels Synchronous motors Friction Control systems Vehicle driving Interference
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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