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Title: Active omni wheel possessing seamless periphery and omnidirectional vehicle using it
Authors: Terakawa, Tatsuro
Komori, Masaharu
Yamaguchi, Yuuta
Nishida, Yugo
Author's alias: 寺川, 達郎
小森, 雅晴
山口, 雄大
西田, 裕悟
Keywords: Omnidirectional movement
Wheel
Vehicle
Kinematics
Mechanism
Issue Date: Mar-2019
Publisher: Elsevier Inc.
Journal title: Precision Engineering
Volume: 56
Start page: 466
End page: 475
Abstract: Vehicles that are capable of achieving omnidirectional movement will work very efficiently in factories and warehouses. To meet this requirement, various omnidirectional vehicles have been proposed, but the wheel mechanism makes precise movement difficult. The active omni wheel (AOW), which can drive itself in an arbitrary direction at any time, can address this issue, but our previous design had mechanical vibration and acoustic noise due to gaps in the outer circumference of the wheel, and its complicated structure had a large number of parts. To solve these problems, this study developed a new AOW possessing a seamless periphery and simple structure. By using barrel-shaped friction-driven outer rollers arranged alternately on the left and right sides of the wheel, gaps between the outer rollers are eliminated and a smooth periphery is realized. Additionally, the power transmission paths were simplified to reduce the number of parts. This paper explains the AOW structure and then presents analyses of structural conditions and kinematics of the AOW. A two-wheel-drive omnidirectional vehicle using the AOW was built and kinematically analyzed. Finally, experiments using the developed AOW and vehicle were conducted and their effectiveness was verified.
Rights: © 2019. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
The full-text file will be made open to the public on 01 March 2021 in accordance with publisher's 'Terms and Conditions for Self-Archiving'.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/241015
DOI(Published Version): 10.1016/j.precisioneng.2019.02.003
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