TY - JOUR
T1 - Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel
AU - Filomeno Amador, Luis Daniel
AU - Castillo Castañeda, Eduardo
N1 - Publisher Copyright:
© 2022 Luis Daniel Filomeno Amador.
PY - 2022/2/7
Y1 - 2022/2/7
N2 - The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual contact between the wheel and the floor, compared to mobile robots using Mecanum wheels and more than one active wheel; due to the design concept, all the mathematical formulations, kinematics and dynamics presents how the models are validated with computer simulations.
AB - The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual contact between the wheel and the floor, compared to mobile robots using Mecanum wheels and more than one active wheel; due to the design concept, all the mathematical formulations, kinematics and dynamics presents how the models are validated with computer simulations.
UR - http://www.scopus.com/inward/record.url?scp=85124799429&partnerID=8YFLogxK
U2 - 10.5194/ms-13-31-2022
DO - 10.5194/ms-13-31-2022
M3 - Artículo
AN - SCOPUS:85124799429
SN - 2191-9151
VL - 13
SP - 31
EP - 39
JO - Mechanical Sciences
JF - Mechanical Sciences
IS - 1
ER -