Lecture 10 mobile robot design
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The document discusses various designs for mobile robots, including single wheel drive, differential drive, tracked robots, and omni-directional robots. It highlights the differences between holonomic and non-holonomic movement capabilities, particularly focusing on the mecanum wheel design for omni-directional mobility. Additionally, it briefly mentions the steering mechanisms used in these designs, such as Ackermann steering.
Lecture 10 mobile robot design
- 2. Single Wheel Drive • Having a single wheel that is both driven and steered is the simplest conceptual design for a mobile robot. • Two passive caster wheels in the back.
- 3. Differential Drive • The differential drive design has two motors mounted in fixed positions on the left and right side of the robot, independently driving one wheel each.
- 5. Tracked Robots • A tracked mobile robot can be seen as a special case of a wheeled robot with differential drive.
- 6. Synchro-Drive • Synchro-drive is an extension to the robot design with a single driven and steered wheel. • The three wheels are rotated together so they always point in the same driving direction.
- 7. Ackermann Steering • The standard drive and steering system of an automobile are two combined driven rear wheels and two combined steered front wheels.
- 9. Omni-directional robot • Above robots cannot drive in all possible directions. • For this reason, these robots are called “non-holonomic”. • In contrast, a “holonomic” or omni-directional robot is capable of driving in any direction. • They are capable of driving in any direction in a 2D plane.
- 10. Mecanum Wheels • This wheel design has been developed and patented by the Swedish company Mecanum AB with Bengt Ilon in 1973
- 11. Omni-Directional Drive • 3-wheel and 4-wheel omni-directional vehicles
- 12. Omni-Directional Drive Mecanum principle, driving forward and sliding sideways; dark wheels rotate forward, bright wheels backward (seen from below)
- 13. Omni-Directional Drive Mecanum principle, turning clockwise (seen from below)