THE DESIGN OF KINEMATICALLY ISOTROPIC ROLLING ROBOTS WITH OMNIDIRECTIONAL WHEELS

被引：35

作者：

SAHA, SK

ANGELES, J

DARCOVICH, J

机构：

[1] MCGILL UNIV,DEPT MECH ENGN,MONTREAL,PQ H3A 2K6,CANADA

[2] MCGILL UNIV,CTR INTELLIGENT MACHINES,MONTREAL,PQ H3A 2K6,CANADA

来源：

MECHANISM AND MACHINE THEORY | 1995年 / 30卷 / 08期

关键词：

D O I：

10.1016/0094-114X(95)00042-W

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Rolling robots with omnidirectional wheels (ODW), and hence, three degrees of freedom, are the subject of this paper. We focus on one kind of ODW, namely, those consisting of a hub with rollers on its periphery, but the main ideas discussed here are readily portable to other kinds. The full mobility of these robots is due to the free rollers. The choice of the orientation of the roller axes with respect to the hub axis, along with the hub orientations with respect to the platform, the number of wheels etc., playing an important role in the operation of the robot, are design issues considered here. A design criterion based on the isotropy of the underlying Jacobian matrices is reported in this paper. Various designs are produced that meet this criterion.

引用

页码：1127 / 1137

页数：11