Design of a highly maneuverable wheeled mobile robot

Martin Udengaard; Karl Iagnemma

doi:10.1117/12.782201

16 April 2008 Design of a highly maneuverable wheeled mobile robot

Martin Udengaard, Karl Iagnemma

Proceedings Volume 6962, Unmanned Systems Technology X; 696219 (2008) https://doi.org/10.1117/12.782201
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and analysis of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. Use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A point design generated by the optimization method is shown for a meter-scale mobile robot.

Citation Download Citation

Martin Udengaard and Karl Iagnemma "Design of a highly maneuverable wheeled mobile robot", Proc. SPIE 6962, Unmanned Systems Technology X, 696219 (16 April 2008); https://doi.org/10.1117/12.782201

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available