Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism

Kyung Seok Byun, Sung Jae Kim, Jae Bok Song

    Research output: Contribution to journalConference articlepeer-review

    36 Citations (Scopus)

    Abstract

    An omnidirectional mobile robot equipped with four independent omnidirectional wheels can perform 3 DOF motion and has one redundant DOF. This redundancy can be used to drive the mechanism enabling the wheel arrangement to vary, which can function as a continuously - variable transmission (CVT). In this research, a special mechanism called a variable wheel arrangement mechanism is proposed to increase the range of velocity ratio for the CVT from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The mobile robot with this mechanism was constructed and various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism.

    Original languageEnglish
    Pages (from-to)720-725
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 2002
    Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
    Duration: 2002 May 112002 May 15

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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