Design of wheeled mobile robots with advanced drives

Chao Chen, Jorge Angeles

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

19 Citations (Scopus)

Abstract

The dual-wheel transmission is a novel drive for wheeled mobile robots; it provides unique features: symmetric structure; load distribution; unlimited steering capacity; and self-rotation while keeping the platform stationary. This paper discusses alternative prototypes of mobile robots with dual-wheel transmissions. We find the conditions of the design parameters in each prototype to achieve isotropic designs, which guarantee optimum maneuverability.

Original languageEnglish
Title of host publicationProceedings of the IDETC/CIE 2007 ASME 2007 Int. Design Eng. Tech. Conf. & Computers & Information in Eng. Conf.
EditorsHorn-Sen Tzou, Nader Jalili
Place of PublicationNew York, USA
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages257-263
Number of pages7
ISBN (Print)0791848027, 9780791848029, 0791848094, 9780791848098
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event31st Mechanisms and Robotics Conference - Las Vegas Nevada, United States of America
Duration: 4 Sep 20077 Sep 2007
Conference number: 31

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume8 PART A

Conference

Conference31st Mechanisms and Robotics Conference
CountryUnited States of America
CityLas Vegas Nevada
Period4/09/077/09/07
OtherThis conference is held at the overarching "ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE)"

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