Omnidirectional Mobility Following Through Trochoidal Trajectory
Taro Maeda and Hideyuki Ando
1-4 Yamada-oka, Suita, Osaka 565-0871, Japan
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.
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