| New steering mechanism for wheeled mobile robots |
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| 作者姓名： | Sidibe Marie Bernard 付宜利 徐贺 马玉林 |
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| 作者单位： | School of Mechanical and Electrical Engineering Center of Advanced Manufacturing Technology Harbin Institute of Technology，School of Mechanical and Electrical Engineering Center of Advanced Manufacturing Technology Harbin Institute of Technology，School of Mechanical and Electrical Engineering Center of Advanced Manufacturing Technology Harbin Institute of Technology，School of Mechanical and Electrical Engineering Center of Advanced Manufacturing Technology Harbin Institute of Technology，Harbin 150001 China，Harbin 150001 China，Harbin 150001 China，Harbin 150001 China |
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| 摘 要： | Mobile platform has attracted various researches inrobotic applications such as wheelchair, car-like-robotetc. Different categories of omni-directional mobileplatforms have been presented significantly over the last20 years. Their mechanical structures ar…
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| 关 键 词： | 轮式移动机器人 转向机构 可操作性 机动性 螺旋路径 |
| 文章编号： | 1005-9113（2007）02-0184-05 |
| 收稿时间： | 2006-03-21 |
New steering mechanism for wheeled mobile robots |
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| Sidibe Marie Bernard,FU Yi-li,XU He,MA Yu-lin.New steering mechanism for wheeled mobile robots[J].Journal of Harbin Institute of Technology,2007,14(2):184-188. |
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| Authors: | Sidibe Marie Bernard FU Yi-li XU He MA Yu-lin |
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| Abstract: | A new castor wheel mechanism for omni-directional mobile platform is presented. A motion of translation is transformed into a rotation to steer the wheel with the help of a helical path fits into a translation joint and three rollers whose axes are connected to the driving shaft of the wheel. When the path moves in translation it acts on the rollers for steering. The path-roller friction transmission, the wheel kinematics and the maneuverability have been analyzed. |
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| Keywords: | castor wheel helical path friction roller maneuverability mobility |
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