Omni-Directional Mobility Using Active Split Offset Castors

[+] Author and Article Information
Haoyong Yu, Matthew Spenko, Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139e-mail: dubowsky@mit.edu

J. Mech. Des 126(5), 822-829 (Oct 28, 2004) (8 pages) doi:10.1115/1.1767181 History: Received July 01, 2003; Revised January 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
Topics: Wheels , Design
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The SmartWalker and its active offset split castor
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An active split offset castor with its coordinate system
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Simulation of an ASOC unit performing sideward motion
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A platform with ASOC modules
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Ground contact of ASOC modules on flat and uneven floor
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Added passive joint to the ASOC
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Workspace of the second ASOC
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Dimensions for the analysis on uneven floors
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Position of wheels and point D of the omni-directional mobility platform traversing uneven terrain
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Wheel contact patch and pressure distribution
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Twisting torque as a function of twist angle
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Dual wheel set scrubbing analysis
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Scrubbing torque of an element in the contact patch
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Scrubbing torque versus wheel distance
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Comparison between active castor and ASOC (top view)
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Scrubbing torque and power dissipation for an active castor and an active split offset castor
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Plot of a complex path executed by the SmartWalker
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Open vs. closed loop trajectory tracking



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