Novel differential drive steering system with energy saving and normal tire using spur gear for an omni-directional mobile robot

Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster-drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. Here we describe effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We propose a Differential-Drive Steering System (DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots.

全向移动机器人因其在狭窄或拥挤区域的高机动性而很有用，配备普通轮胎的全向机器人因其能够克服高度差以及具有减振和乘坐舒适性而受到青睐。为了实现全向移动机器人，已经开发出一种使用普通轮胎的脚轮驱动机构，但仍然存在一些问题。在此，我们描述了用于控制全向移动机器人脚轮驱动轮的有效系统。我们提出一种使用差速齿轮的差速驱动转向系统（DDSS），以提高电机的工作效率。该DDSS可由两个电机有效地产生驱动和转向扭矩。仿真和实验结果表明，所提出的系统对全向移动机器人是有效的。