Omni Wheel Arrangement Evaluation Method Using Velocity Moments
Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over o...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/3/1584 |
| _version_ | 1797625205508538368 |
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| author | Masaaki Hijikata Renato Miyagusuku Koichi Ozaki |
| author_facet | Masaaki Hijikata Renato Miyagusuku Koichi Ozaki |
| author_sort | Masaaki Hijikata |
| collection | DOAJ |
| description | Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures. |
| first_indexed | 2024-03-11T09:53:16Z |
| format | Article |
| id | doaj.art-b340dec249b74cbaa4b04a87fe19662c |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T09:53:16Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-b340dec249b74cbaa4b04a87fe19662c2023-11-16T16:07:33ZengMDPI AGApplied Sciences2076-34172023-01-01133158410.3390/app13031584Omni Wheel Arrangement Evaluation Method Using Velocity MomentsMasaaki Hijikata0Renato Miyagusuku1Koichi Ozaki2DAIHEN Corporation, 2-1-11, Tagawa, Yodogawa, Osaka 532-8512, JapanGraduate School of Engineering, Utsunomiya University, 7-1-2, Yoto, Utsunomiya 321-8585, JapanGraduate School of Engineering, Utsunomiya University, 7-1-2, Yoto, Utsunomiya 321-8585, JapanWheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.https://www.mdpi.com/2076-3417/13/3/1584omnidirectional robotkinematics modelwheel arrangementmechanical design |
| spellingShingle | Masaaki Hijikata Renato Miyagusuku Koichi Ozaki Omni Wheel Arrangement Evaluation Method Using Velocity Moments Applied Sciences omnidirectional robot kinematics model wheel arrangement mechanical design |
| title | Omni Wheel Arrangement Evaluation Method Using Velocity Moments |
| title_full | Omni Wheel Arrangement Evaluation Method Using Velocity Moments |
| title_fullStr | Omni Wheel Arrangement Evaluation Method Using Velocity Moments |
| title_full_unstemmed | Omni Wheel Arrangement Evaluation Method Using Velocity Moments |
| title_short | Omni Wheel Arrangement Evaluation Method Using Velocity Moments |
| title_sort | omni wheel arrangement evaluation method using velocity moments |
| topic | omnidirectional robot kinematics model wheel arrangement mechanical design |
| url | https://www.mdpi.com/2076-3417/13/3/1584 |
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