This paper proposes innovative drives for omnidirectional and quasi-omni-directional wheeled mobile robots. A novel epicyclic cam transmission is developed to transmit motion in the drives, with some advantages over its gear-train counterparts: low friction, high stiffness, and high precision. In this work, three new indices, the contact ratio in cam transmissions, the generalized transmission index, and the total transmission index, are proposed to evaluate the force and motion transmission qualities. Furthermore, the first two indices are the objective functions of the design of the dual-wheel transmission, the final design thus achieving the best transmission performance. The reported drives have been virtually prototyped.
Skip Nav Destination
Optimum Kinetimatics Design of Drives for Wheeled Mobile Robots Based on Cam-Roller Pairs
- Views Icon Views
- Share Icon Share
- Search Site
Chen, C., and Angeles, J. (August 2, 2006). "Optimum Kinetimatics Design of Drives for Wheeled Mobile Robots Based on Cam-Roller Pairs." ASME. J. Mech. Des. January 2007; 129(1): 7–16. https://doi.org/10.1115/1.2359476
Download citation file: