Abstract
A new driving mechanism is introduced for an omni-directional mobile robot with three ball wheels. This driving system overcomes to troubles arise from using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and, limited load capacity. The kinematics of the propulsion system with focus in the relation between wheels angular speeds and robot velocity is described. Then, the kinetic behavior equivalent to the kinematic description is developed. At last, using two different trajectories the overall motion of the system and torques applied to the actuators are simulated.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
