Pivot Steering Based Omnidirectional Mobile Platform

Abstract:

Synchro drive uses chain sprocket mechanism to drive three wheels at vertex of triangular chaises and has limited load bearing capacities due to asymmetry. The driving and steering motors fixed near to the vertex of the triangular chassis and wear in chains over a period of time results in increased dead reckoning. The concept of simple pivot based mobile platform using two drives overcasts a conventional synchro drive omnidirectional mobile platform in many aspects .This mobile platform has symmetric chassis with six wheels that makes platform stable irrespective of any configuration. Gear trains to steer the four corner wheels in tandem with pivot wheel adds omnidirectional feature along with increased load bearing capacities and reduced dead reckoning. This paper highlights the concept of pivot steer based omnidirectional mobile platform.

• Periodical: Applied Mechanics and Materials (Volumes 592-594)
• Pages: 1147-1150
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.592-594.1147
• Online since: July 2014
• Authors: P. Achuthan*, E. Balu, A. Ravishankar, S. Venugopal
• Keywords: Ommnidirectional, Pivot Steer

References

[1] L huang, Y.S. Lim, David Li and Christopher E.L. Teoh, Design and analysis of four wheel omnidirectional mobile robot, 2nd international conference on autonomous robots and agents, (2004).

[2] Roland Siegwart, Illah R. Nourbakhsh Introduction to Autonomous Mobile Robots.

[3] Fig 1(b) Designed in 1985 by Gregg Podnar at the Robotics Institute of Carnegie-Mellon University.