Abstract
Mobile wheeled robots are used for various applications such as moving payload from one place to another. In many instances, the orientation of the robotic platform does not change and hence for those applications, it is desired to have platforms that just have translational degrees-of-freedom and do not have a rotation about the vertical axis (yaw rotation). In this paper, the authors propose two architectures of the platform that have two active and two passive wheels. Simulation in V-REP software was carried out and physical prototypes were developed and tested to validate the effectiveness of the proposed platforms. One of the proposed designs fits perfectly for a pure translation mobile platform.
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Manne, U., Maddi, R., Dannana, D., Pasupuleti, D., Chittawadigi, R.G. (2021). Two Degree-Of-Freedom Omni-Wheel Based Mobile Robot Platform for Translatory Motion. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_12
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DOI: https://doi.org/10.1007/978-981-16-1769-0_12
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