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


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.

Copyright © 2008 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

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

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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 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.

Grahic Jump Location
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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