The Kinematic Design of a 3-dof Isotropic Mobile Robot
نویسندگان
چکیده
Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF), their full mobility being obtained by virtue of the free rollers around the periphery of the wheels. The choice of the orientation of the roller axes with respect to the wheel axis, along with the wheel orientations with respect to the platform, the number of wheels, etc., are design issues considered here. A design approach based on the isotropy of the underlying Jacobian matrices is reported in this paper.
منابع مشابه
A Novel Multimode Mobile Robot with Adaptable Wheel Geometry for Maneuverability Improvement
In this paper, an innovative mobile platform is presented which is equipped by three new wheels. The core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. The structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. Each wheel has two degrees of freedom. The fi...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملDesign Of A New 6-DOF Parallel Haptic Device
In this paper, a new 6-dof parallel haptic master device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design problem is performed for this mechanism. Dexterous workspa...
متن کاملPath Planning of a 3 DOF Servo-Hydraulic Mechanism Using Genetic Algorithm
The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as...
متن کاملKinematic and Dynamic Analysis of Tripteron, an Over-constrained 3-DOF Translational Parallel Manipulator, Through Newton-Euler Approach
In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...
متن کامل