Novel differential drive steering system with energy saving and normal tire using spur gear for an omni-directional mobile robot

Abstract

Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A casterdrive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. Here we describe effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We propose a Differential-Drive Steering System (DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots.

Design and implementation of a cognitive-ergonomic navigation interface on an optimized holonomic mechanism

“…Omnidirectional robots that are able to take any velocity in any direction at any time are holonomic. These kinds of mechanisms can be realized by using spherical [8], castor [9], Swedish wheels (Mecanum) [10], [11], Omni wheels [12], Laquos wheels [13] or WESN wheels [14].…”

Robust control of a redundant wheeled drive system for energy saving and fail safe motion

“…In the last few decades, many scientific researches have been conducted for energy saving in mobile robots. [26][27][28][29][30][31][32] There exist hardware approaches by reducing weights of components and changing actuators, improving the efficiency of motor power supply. Robust and optimal energy control has become prevailing approaches that are implemented in robot drivers to save consumed energy.…”

Design of a redundant wheeled drive system for energy saving and fail safe motion

“…However, the amount of consumed energy cannot be estimated. Ueno et al 15 proposed a differential drive steer system for the caster drive wheel of an omnidirectional mobile robot. However, the system is expensive because they used two motors for each wheel.…”

“…In last few decades, many researches have been conducted for energy saving in mobile robots. 6,[10][11][12][13][14][15][16] WMRs usually have many components, such as sensors, batteries, motors, controllers, and motor drivers. There are several ways to achieve energy saving such as improving the power efficiency of motor power supply and using energy-efficient motors and energy-minimizing control.…”