Research on an omni-directional AGV with differential wheels

Wang, Xiaoyan; Wang, Cui; Xu, Xiujun; Ye, Changlong

doi:10.1109/icma.2016.7558797

Cited by 6 publications

(6 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is impossible to calculate the integration of (19) analytically, because the slidable wheels of SWOM are nonholonomic. As shown in (12) and (14), however, we can obtain the general solution in the case that SWOM trajectories are either translation or rotation only.…”

Section: B Trajectories Satisfying Constraintsmentioning

confidence: 98%

“…Next, we consider the reachable region when SWOM rotates around the center of the base block without translation. When is given in (8) and the initial condition is the same as in the translation discussed above, is obtained: (14) where is the tangent. Therefore, the reachable region of the main body of SWOM is represented by the following inequalities.…”

Section: B Reachable Region Under Fixed Steering Anglesmentioning

confidence: 99%

“…However, the omni wheel has disadvantages such as a low load capacity due to its complicated structure, unavoidable vertical vibration due to discontinuity of the ground contact point, and inability to surmount high bumps due to the small radius of the free rollers [9]. As an alternative, the orthogonal wheel, which has two spherical-segment wheels, has been proposed [10]- [14], but the complicated structure and the discontinuous contact point remain. Spherical wheels can be used for omnidirectional mobile robots [15]- [20], but then size becomes a problem.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Terakawa

Komori

Matsuda

et al. 2018

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots such as AGVs due to their complicated wheel mechanisms. This research proposes a novel omnidirectional mobile robot named SWOM (slidable-wheeled omnidirectional mobile robot), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From the above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.

show abstract

Section: B Trajectories Satisfying Constraintsmentioning

confidence: 98%

Section: B Reachable Region Under Fixed Steering Anglesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Terakawa

Komori

Matsuda

et al. 2018

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…The design of Omnidirectional AGVs has been studied in [31][32][33][34][35].The steerable wheel has a rotating mechanism, including the traction motor and gearbox. Based on the received position reference, steerable wheel system can change its steering angle actively.…”

Section: Relationship Between Traction Topology and Traction System S...mentioning

confidence: 99%

“…In [33][34], a novel MY3 type wheel is developed. MY3 wheel is insensitive to dirt and any particles on the floor in any production environment.…”

Section: Relationship Between Traction Topology and Traction System S...mentioning

confidence: 99%

Review of Traction System, Energy Efficiency and Electrical Design of Automated Guided Vehicles in Automotive Industry

KARAMUK¹,

SAVCI²,

OCAKLI³

2022

European Journal of Technic

View full text Add to dashboard Cite

Automated guided vehicles have been part of all production and logistic systems. Industry 4.0 technologies have also increased the applications of AGVs because of the demand for autonomous operations with minimum human power. In parallel to the growth of AGV market, researchers and application engineers need a holistic approach considering all aspects of development and application of AGVs.Objective of this study is to provide guidelines for AGV development with focus on traction systems. Traction topologies, motor and inverter specifications, energy efficiency solutions, failure risks of AGV motors, and electrical system development issues are reviewed.

show abstract

Kinematics analysis of the transport and technological system with a pivoted driving axle

Vetrogon¹,

Kharchenko²,

Мишин³

2022

13TH INTERNATIONAL SCIENTIFIC CONFERENCE ON AERONAUTICS, AUTOMOTIVE AND RAILWAY ENGINEERING AND TECHNOLOGIES (BulTrans-2021)

View full text Add to dashboard Cite

Research on an omni-directional AGV with differential wheels

Cited by 6 publications

References 4 publications

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Review of Traction System, Energy Efficiency and Electrical Design of Automated Guided Vehicles in Automotive Industry

Kinematics analysis of the transport and technological system with a pivoted driving axle

Contact Info

Product

Resources

About