Development of Holonomic Omnidirectional Vehicle “Vuton-II” with Omni-Discs
Riichiro Damoto and Shigeo Hirose
Tokyo Institute of Technology, 2-12-1 0-okayama Meguro-ku Tokyo, 152-8552, Japan
In this paper, we focus on a new omni-directional vehicle “The Vuton-II” that was developed for use as a transport vehicle to operate within factories, hospitals and warehouses. This vehicle is composed of using three or more “Omni-Discs”. Its mechanism ensures that individual wheels of the assembly are always aligned in the same direction, and can always roll freely. The Vuton-II is designed to be low in cost, short in stature, and to bear a reasonably high payload.
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