A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels

機関リポジトリ (HANDLE) オープンアクセス

説明

This letter proposes a palm-sized omnidirectional mobile robot with two torus wheels. A single torus wheel is made of an elastic elongated coil spring in which the two ends of the coil connected each other and is driven by a piezoelectric actuator (stator) that can generate 2-degrees-of-freedom (axial and angular) motions. The stator converts its thrust force and torque into longitudinal and meridian motions of the torus wheel, respectively, making the torus work as an omnidirectional wheel on a plane. In this paper, we build a control system of a piezo-driven 2-degrees-of-freedom torus wheel and evaluate its performance measures, such as the transient characteristics, the orientation accuracy and the payload capacity. An omnidirectional robot with the two torus wheels is constructed, and the feedback control for a desired planar motion is demonstrated. The design inspired by a ring torus represents the possibility toward the creation of an unprecedentedly simple, light, and compact 2-wheel omnidirectional robot.

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詳細情報 詳細情報について

  • CRID
    1050583790043119488
  • ISSN
    23773766
  • HANDLE
    2324/7172240
  • 本文言語コード
    en
  • 資料種別
    journal article
  • データソース種別
    • IRDB

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