Omnidirectional Mobility Following Through Trochoidal Trajectory

Taro Maeda; Hideyuki Ando

doi:10.20965/jrm.2019.p0567

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JRM Vol.31 No.4 pp. 567-582

doi: 10.20965/jrm.2019.p0567

(2019)

Paper:

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Omnidirectional Mobility Following Through Trochoidal Trajectory

Taro Maeda and Hideyuki Ando

Osaka University
1-4 Yamada-oka, Suita, Osaka 565-0871, Japan

Received:

April 17, 2016

Accepted:

April 20, 2019

Published:

August 20, 2019

Keywords:

trochoidal trajectory, omnidirectional mobility, conventional wheel, rotating mechanism

Abstract

The trochoid is a geometrically complete solution for realizing omnidirectional mobility with a rotating mechanism. The proposed mechanism is implemented as a novel omnidirectional vehicle with following a geometrically complete trochoidal trajectory. Because the mechanism has a large camber angle, it has an improved ability to travel past rough terrain as compared to a regular vehicle with regular wheels. In this paper, a complete mechanical control using link mechanism to generate not only the steering angle and camber angle for an ideal trochoidal wave but also the angular velocity of the wheel axis is proposed.

Omnidirectional trochoidal mobility

Cite this article as:

T. Maeda and H. Ando, “Omnidirectional Mobility Following Through Trochoidal Trajectory,” J. Robot. Mechatron., Vol.31 No.4, pp. 567-582, 2019.

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References

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[15] K. Nakazawa, “Propuling mechanism by meandering motion,” Biomechanics Society (Ed.), “Biomechanism learning from living things: New ideas for mechanical system design,” p. 46, Kogyo Chosakai Publishing Co., Ltd., 1987.
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[17] T. Maeda, “Trochoid drive system and moving body,” US-Patent, US8944448B2, JP-Patent P 2011-117496A, 2011.
[18] T. Maeda and H. Ando, “An improvement of the trochoid trajectory rotating mechanism for getting over bumps – A mechanism for omnidirectional mobility without omniwheels (III) –,” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec), 1P1-F09, 2012.
[19] T. Maeda and H. Ando, “An evaluation for stability of the trochoid trajectory rotating mechanism on rough terrain – A mechanism for omnidirectional mobility without omniwheels (IV) –,” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec), 2P1-R15, 2013.
[20] T. Maeda, “Trochoid driving mechanism,” JP-Patent P2012-120065A, JP6021054B2, 2012.
[21] T. Maeda, “Trochoid driving mechanism,” JP-Patent P2013-149696A, JP2013244853A, 2013.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Yamashita, H. Asama, T. Arai, J. Ota, and T. Kaneko, “A Survey on Trends of Mobile Robot Mechanisms,” J. of the Robotics Society of Japan, Vol.21, No.3, pp. 282-292, 2003.

[2] [2] B. Carlisle, “An Omni-Directional Mobile Robot,” Developments in Robotics, IFS Publications, pp. 79-87, 1983.

[3] [3] K. Tadakuma, R. Tadakuma, K. Nagatani, K. Yoshida, S. Peters, M. Udengaard, and K. Iagnemma, “Crawler vehicle with circular cross-section unit to realize sideways motion,” The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, October 11-15, 2009 St. Louis, USA, 978-1-4244-3804-4/09.

[4] [4] M. West and H. Asada, “Design and Control of Ball Wheel Omnidirectional Vehicles,” Proc. of the 1995 IEEE Int. Conf. on Robotics and Automation, pp. 1931-1938, 1995.

[5] [5] H. Yu, M. Spenko, and S. Dubowsky, “Omni-directional mobility using active split offset castors,” ASME J. Mech. Design, Vol.126, No.5, pp. 822-829, 2004.

[6] [6] I. Virgala, M. Kelemen, M. Hagara, E. Prada, and T. Lipták, “Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe,” American J. of Mechanical Engineering, Vol.4, No.7, pp. 297-305, 2016.

[7] [7] Y. Muguruma, “Trochoid electric motor car,” JPH05147562A (Application JP8103391A events, 1991) JP-Patent P2000-33876A, 2000.

[8] [8] H. Perfahl, “Cycloydal Propeller,” US-Patent 5993157, 1999.

[9] [9] R. P. Gibbens, “Construction and flying a radio controlled lighter than aircraft powered by cycloidal propellers,” 4th Int. Airship Convention and Exhibition, A-1, 2002.

[10] [10] M. Onda, “Control mechanism for cycloidal propeller,” JP2003013246A, JP-Patent P2004-224147A, 2004.

[11] [11] T. Maeda and H. Ando, “A rotating mechanism for geometrically complete trochoid trajectory as a novel omnidirectional mobile mechanism with rolling wheels: A mechanism for omnidirectional mobility without omniwheels,” JSME Proc., 2A2-D11, 2010.

[12] [12] V. Downward and W. M. Clark, “Vertical Paddle Propeller,” Wheel, 1930.

[13] [13] G. Endo, H. Yamada, T. Aoki, and S. Hirose, “Development of Biologically Inspired Educational Robots Based on Gliding Locomotion,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), November 3-7, 2013, Tokyo, Japan, pp. 3291-3296, 2013.

[14] [14] T. Maeda and H. Ando, “Trochoid drive system, US-Patent,” US8757316B2, JP-Patent P 2010-134580A, 2010.

[15] [15] K. Nakazawa, “Propuling mechanism by meandering motion,” Biomechanics Society (Ed.), “Biomechanism learning from living things: New ideas for mechanical system design,” p. 46, Kogyo Chosakai Publishing Co., Ltd., 1987.

[16] [16] T. Maeda and H. Ando, “An improvement of rotating mechanism for geometrically complete trochoid trajectory as a novel omnidirectional mobile mechanism with rolling wheels: A mechanism for omnidirectional mobility without omniwheels (II) (Wheeled Robot/Tracked Vehicle),” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec), 1P1-I101, 2011.

[17] [17] T. Maeda, “Trochoid drive system and moving body,” US-Patent, US8944448B2, JP-Patent P 2011-117496A, 2011.

[18] [18] T. Maeda and H. Ando, “An improvement of the trochoid trajectory rotating mechanism for getting over bumps – A mechanism for omnidirectional mobility without omniwheels (III) –,” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec), 1P1-F09, 2012.

[19] [19] T. Maeda and H. Ando, “An evaluation for stability of the trochoid trajectory rotating mechanism on rough terrain – A mechanism for omnidirectional mobility without omniwheels (IV) –,” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec), 2P1-R15, 2013.

[20] [20] T. Maeda, “Trochoid driving mechanism,” JP-Patent P2012-120065A, JP6021054B2, 2012.

[21] [21] T. Maeda, “Trochoid driving mechanism,” JP-Patent P2013-149696A, JP2013244853A, 2013.