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Title: A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
Authors: Terakawa, Tatsuro  kyouindb  KAKEN_id  orcid https://orcid.org/0000-0002-9418-3156 (unconfirmed)
Komori, Masaharu  kyouindb  KAKEN_id  orcid https://orcid.org/0000-0001-8696-8167 (unconfirmed)
Matsuda, Kippei
Mikami, Shinji
Author's alias: 寺川, 達郎
小森, 雅晴
松田, 吉平
三上, 慎司
Keywords: Mobile robot kinematics
mobile robots
motion analysis
Issue Date: Aug-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Journal title: IEEE/ASME Transactions on Mechatronics
Volume: 23
Issue: 4
Start page: 1716
End page: 1727
Abstract: Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots, such as automated guided vehicles (AGVs) due to their complicated wheel mechanisms. This paper proposes a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.
URI: http://hdl.handle.net/2433/241005
DOI(Published Version): 10.1109/TMECH.2018.2842259
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