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RESEARCH PAPERS

Optimum Kinetimatics Design of Drives for Wheeled Mobile Robots Based on Cam-Roller Pairs

[+] Author and Article Information
Chao Chen

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, Canadacchen56@cim.mcgill.ca

Jorge Angeles

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, Canadaangeles@cim.mcgill.ca

Here, we ignore the one-half factor, which does not change the ensuring derivation.

According to the Aronhold-Kennedy Theorem (22-23), the instant center between the cam and the follow must remain stationary to keep a constant speed ratio.

J. Mech. Des 129(1), 7-16 (Aug 02, 2006) (10 pages) doi:10.1115/1.2359476 History: Received January 30, 2006; Revised August 02, 2006

This paper proposes innovative drives for omnidirectional and quasi-omni-directional wheeled mobile robots. A novel epicyclic cam transmission is developed to transmit motion in the drives, with some advantages over its gear-train counterparts: low friction, high stiffness, and high precision. In this work, three new indices, the contact ratio in cam transmissions, the generalized transmission index, and the total transmission index, are proposed to evaluate the force and motion transmission qualities. Furthermore, the first two indices are the objective functions of the design of the dual-wheel transmission, the final design thus achieving the best transmission performance. The reported drives have been virtually prototyped.

Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Prototype of the DWT unit developed by Leow

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Figure 2

Layout of the DWT unit

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Figure 3

Alternative layout of a cam-roller-based DWT unit

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Figure 4

Contact ratio in a planar SoC

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Figure 5

Characteristic point on a spatial output link defined by (a) Sutherland and Roth (19), (b) this paper

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Figure 6

Two instances of two four-bar linkages

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Figure 7

A six-bar linkage

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Figure 8

Motion and force transmission of a planar serial train

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Figure 9

Ring cam profile with Mr=3 and N=3

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Figure 10

(a) GTI versus a3; (b) κ versus a3 of a ring cam with Mr=3, N=3, and a1=28

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Figure 11

(a) GTI versus a1; (b) κ versus a1 of a ring cam with Mr=3, N=3

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Figure 12

Optimum ring cam

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Figure 13

Input cam profile with its geometric constraints

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Figure 14

(a) GTI versus a1 and (b) κ versus a1 for an input cam with N=12

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Figure 15

The constraints versus a1 for an input cam with (a) N=12 and (b) N=9

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Figure 16

Optimum design of the input cam with N=10, a1=140mm, and a3=120mm

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Figure 17

Cam transmission train in the DWT

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Figure 18

Simplified static force analysis on the ring disk

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Figure 19

TTI in the cam transmission versus ψ

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Figure 20

Bending and offset generated by double universal joints

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Figure 21

Bending and offset generated by four universal joints

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Figure 22

Disk-and-link coupling

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Figure 23

(a) The section drawing and (b) the 3D drawing of the central type of DWT unit

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Figure 24

The disk-link coupling in the offset DWT unit

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