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ROLLMOBS, a new drive system for omnimobile robots

Published online by Cambridge University Press:  17 January 2001

L. Ferrière ,
G. Campion  and
B. Raucent
L. Ferrière
Affiliation:
Center for Research in Mechatronics (CEREM), Université catholique de Louvain, Place du Levant 2, 1348 Louvain-la-Neuve, (Belgium)[email protected]
G. Campion
Affiliation:
Center for Research in Mechatronics (CEREM), Université catholique de Louvain, Place du Levant 2, 1348 Louvain-la-Neuve, (Belgium)[email protected]
B. Raucent
Affiliation:
Center for Research in Mechatronics (CEREM), Université catholique de Louvain, Place du Levant 2, 1348 Louvain-la-Neuve, (Belgium)[email protected]
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Abstract

Typical mobile robot structures (e.g. wheelchairs or car-like robots) do not have the required mobility for common applications such as displacement in an office, hospital, workshop, etc. New structures based on the “universal wheel” (i.e. a wheel equipped with freely rotating rollers) have been developed to increase mobility. However, these structures have important drawbacks such as spurious vibrations and limited load capacity. This paper presents a new type of omnimobile platform using an original combination of spherical wheel and universal wheel. This structure will improve the robot capabilities, i.e., load capacity and surmountable bumps.

Keywords

ROLLMOBSOmnimobile robotsUniversal wheelMobility
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 1 - 9
Copyright
© 2001 Cambridge University Press

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