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Research Papers

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

[+] Author and Article Information
Chao Chen

Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canadacchen@mie.utoronto.ca

Svetlana Ostrovskaya

Department of Mechanical Engineering, McGill University, Montreal, QC, H3A 2A7, Canada; Centre for Intelligent Machines, McGill University, Montreal, QC, H3A 2A7, Canadasvetlana@cim.mcgill.ca

Jorge Angeles

Department of Mechanical Engineering, McGill University, Montreal, QC, H3A 2A7, Canada; Centre for Intelligent Machines, McGill University, Montreal, QC, H3A 2A7, Canadaangeles@cim.mcgill.ca

The centroid of the platform is defined as that of the three points on plane Π at which the three wheel steering axes intersect this plane.

In the above formula, we have dispensed with subscript i for conciseness.

J. Mech. Des 130(1), 011004 (Dec 07, 2007) (9 pages) doi:10.1115/1.2803254 History: Received January 31, 2006; Revised March 05, 2007; Published December 07, 2007

The dual-wheel transmission unit, an innovative driving mechanism for wheeled mobile robots, was introduced elsewhere. In this paper, we discuss wheeled mobile robots with such units, supplied with a novel suspension to keep the wheel-ground contact in spite of the irregularities of the floor. We derive closed-form solutions and constraints pertaining to the direct and inverse-kinematics problems of these robots; the constraints reveal the mobility of the robots at hand. Furthermore, we provide an algorithm for the trajectory tracking of the same robots that relies on a novel technique, which is termed the companion-curve method.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The layout of a central DWT unit

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Figure 2

A WMR with three DWT units

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Figure 3

A suspension system on each wheel to fit the uneven ground

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Figure 4

Disk-link coupling

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Figure 5

A top view of the suspension system on an offset-type DWT

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Figure 6

A DWT moving on an irregular floor: (a) top view and (b) front view

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Figure 7

The output of a single wheel

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Figure 8

A platform with three central wheels

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Figure 9

Three cases of WMR with central wheels

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Figure 10

WMR actuated by dual driving

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Figure 11

(a) The WMR with three central DWT units on a prescribed curve C0 and (b) the companion curves C1, C2, and C3

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Figure 12

A prescribed path generated by Lamé curve

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Figure 13

The motor inputs for the robot to follow the path

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Figure 14

A platform with three offset wheels

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Figure 15

WMR actuated by noncollocated dual driving

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Figure 16

The motor inputs for the WMR with offset DWTs to follow the path

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