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JRM Vol.31 No.4 pp. 567-582
doi: 10.20965/jrm.2019.p0567
(2019)

Paper:

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
Omnidirectional Mobility Following Through Trochoidal Trajectory

Omnidirectional trochoidal mobility

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.

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.
Data files:
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Last updated on Sep. 19, 2019