Design of the Dual Offset Active Caster Wheel for Holonomic Omni-Directional Mobile Robots

Woojin Chung; Chang-bae Moon; Changbae Jung; Jiyong Jin

doi:10.5772/10485

International Journal of Advanced Robotic Systems (Dec 2010)

Design of the Dual Offset Active Caster Wheel for Holonomic Omni-Directional Mobile Robots

Woojin Chung,
Chang-bae Moon,
Changbae Jung,
Jiyong Jin

Affiliations

Woojin Chung: School of Mechanical Engineering, Korea University, Seoul, KOREA
Chang-bae Moon: School of Mechanical Engineering, Korea University, Seoul, KOREA
Changbae Jung: School of Mechanical Engineering, Korea University, Seoul, KOREA
Jiyong Jin: School of Mechanical Engineering, Korea University, Seoul, KOREA

DOI: https://doi.org/10.5772/10485
Journal volume & issue: Vol. 7

Abstract

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It is shown how a holonomic and omni-directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

Published in International Journal of Advanced Robotic Systems

ISSN: 1729-8814 (Online)
Publisher: SAGE Publishing
Country of publisher: United Kingdom
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Electronics; Science: Mathematics: Instruments and machines: Electronic computers. Computer science
Website: https://journals.sagepub.com/home/arx

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