Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A New Wheel Arrangement by Dynamic Modeling and Driving Performance Analysis of Omni-directional Robot

다중이동로봇의 동적 모델링 및 구동성능 분석을 통한 새로운 바퀴 배치 제안

  • Shin, Sang Jae (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Haan (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Seong Han (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Chu, Chong Nam (School of Mechanical and Aerospace Engineering, Seoul National University)
  • 신상재 (서울대학교 기계항공공학부) ;
  • 김한 (서울대학교 기계항공공학부) ;
  • 김성한 (서울대학교 기계항공공학부) ;
  • 주종남 (서울대학교 기계항공공학부)
  • Received : 2012.11.10
  • Accepted : 2012.11.19
  • Published : 2013.01.01
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Abstract

Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.

Keywords

References

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