Design and Control of the Active Split Offset Caster based Omni-directional Vehicle

Design of the Dual Offset Active Caster Wheel for Holonomic Omni-Directional Mobile Robots

It is shown how a holonomic and omni‐directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

Omni-Directional Mobility Using Active Split Offset Castors

An omni-directional mobility platform design concept using two active split offset castors (ASOC) and one or more conventional castors is presented. An ASOC module consists of two coaxial conventional wheels driven independently and connected to the platform via an offset link. The kinematics and implementation of the omni-directional platform is described and analyzed. Particular attention is ...

Design of a Hybrid Powered Autonomous Omni-Directional Vehicle

Holonomic Omni-Directional Vehicle with New Omni-Wheel Mechanism

In this paper, we focus on the “Vuton-II”, a new omni-directional vehicle developed as a transport vehicle to operate within factories, hospitals, and warehouses. This vehicle is composed of three or more “Omni-Discs.” The Omni-Disc mechanism ensures that individual wheels of the Omni-Disc assembly are always aligned in the same direction, and can always roll freely. The Vuton-II was based on t...

The Minimum-Time Trajectories for an Omni-Directional Vehicle

One common mobile robot design consists of three ‘omniwheels’ arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to each wheel. Omniwheels, like standard wheels, are driven by the motors in a direction perpendicular to the wheel axle, but unlike standard wheels, can slip in a direction parallel to the axle. Unlike a steere...