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Technical Briefs

Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels

[+] Author and Article Information
Denny Oetomo1

Department of Mechanical Engineering,  The University of Melbourne, VIC 3010, Australiadoetomo@unimelb.edu.au

Marcelo H. Ang

Department of Mechanical Engineering,  National University of Singapore, Singapore 117576, Singaporempeangh@nus.edu.sg

1

Corresponding author.

J. Mech. Des 130(5), 054501 (Mar 26, 2008) (5 pages) doi:10.1115/1.2885512 History: Received January 10, 2007; Revised August 16, 2007; Published March 26, 2008

This paper presents the analysis of singularity and motion capability of a mobile platform articulated by offset powered caster wheels. Specifically, it presents the analysis of the equations of motion resulting in the sufficient and necessary actuation condition to yield a workspace that is entirely free of singular configurations. This paper shows that powering both the steer and drive joints on two sets of offset caster wheels in a mobile platform guarantees a singularity-free condition throughout the entire workspace. Analysis and discussion on equations of motions that lead to this result are presented.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 2

Frame assignment and parameter definition of the mobile robot. Vector tCi is obtained by rotating the contact point position vector pCi by 90deg anticlockwise and keeping the same magnitude.

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Figure 3

Example of a singular configuration for a case with three actuated joints. The actuated joints are [ϕk,ρk,ρi].

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Figure 4

Example of a singular configuration for a case with three actuated joints. The actuated joints are [ϕk,ρk,ϕi].

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Figure 1

An offset caster wheel, with offset b, radius r, steer joint ϕ, and drive joint rρ

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