Abstract
The Omni-directional mobile chassis is a kind of mobile device which can travel in any direction under the premise of a fixed body posture, and can guarantee a zero radius of gyration when rotating. It shows different performances with different number of wheels or layouts. Based on the robot chassis functional requirements: mobility and stability, this article, through the theoretical analysis/ADAMS simulation and experiment to the three-wheel and four-wheel chassis proposals respectively, compares their two types of performances and finally gets their advantages and weaknesses. The conclusion of this paper provides some reference on the application of different Omni-directional mobile chassises in different situations.
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© 2012 Springer-Verlag Berlin Heidelberg
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Huang, Sb., Chen, Ds., Gong, Hq. (2012). Research on the Impact of the Number of Wheels and Layouts to the Performances of Omni-Directional Chassis. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_26
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DOI: https://doi.org/10.1007/978-3-642-33503-7_26
Publisher Name: Springer, Berlin, Heidelberg
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