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An omnidirectional mobile robot
Ye ZL(叶长龙); Ma SG(马书根); Hui L(回丽)
Indexed BySCI
WOS IDWOS:000297709400017
Contribution Rank1
Funding OrganizationEducational Office of Liaoning Province[2008553]; National High-Tech Research & Development Program of China[2007AA041703]
KeywordOmnidirectional Mobile Robot Mechanism Design Kinematics
AbstractA novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems
WOS Research AreaComputer Science
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Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang, China
2.State Robotics Laboratory, Shenyang Institute of Automation, Shenyang, China
3.Department of Robotics, Ritsumeikan University, Kusatsu, Japan
Recommended Citation
GB/T 7714
Ye ZL,Ma SG,Hui L. An omnidirectional mobile robot[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(12):2631-2638.
APA Ye ZL,Ma SG,&Hui L.(2011).An omnidirectional mobile robot.SCIENCE CHINA-INFORMATION SCIENCES,54(12),2631-2638.
MLA Ye ZL,et al."An omnidirectional mobile robot".SCIENCE CHINA-INFORMATION SCIENCES 54.12(2011):2631-2638.
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