Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism

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...

Four - wheel drive vehicle crash involvement patterns

Motion Control of a Four-wheel-drive Omnidirectional Wheelchair with High Step Climbing Capability

In recent years, aging problem has been arising to be among the most serious social issues world wide, especially in some European and Asian countries, involving Japan. It is reported in Japan that the population of over 65 years old would reach 30,000,000 in 2012 and grow over 30% of total population in 2025[1]. Electric wheelchairs, personal mobiles, scooters are currently commercially availa...

Holonomic and Omnidirectional Vehicle with Conventional Tires - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

A new type of holonomic omnidirectionul vehicle which consists of wheel mechanisms without free rollers but with conventional tires is presented. We first present a concept of the new driving wheel mechanism with a tire in the conventional style such QS a rubber tire or a pneumatic tire,"Offset Steered Driving Wheel". The configuration of the wheel has an offset distance between a wheel axle an...

The Superchair : A Holonomic Omnidirectional Wheelchair with a Variable Footprint Mechanism

A reconfigurable mechanism for varying the footprint of a four-wheeled omnidirectional vehicle is developed and applied to wheelchairs. The variable footprint mechanism consists of a pair of beams intersecting at a pivotal point in the middle. Two pairs of ball wheels at the diagonal positions of the vehicle chassis are mounted, respectively, on the two beams intersecting in the middle. The ang...