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Design of omnimobile robot wheels

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3 Author(s)
Ferriere, L. ; Dept. of Mech. Eng., Univ. Catholique de Louvain, Belgium ; Raucent, B. ; Campion, G.

Typical mobile robot structures (e.g. wheelchair or car-like) do not have the required mobility for common applications such as displacement in a corridor, hospital and office. New structures based on the “universal wheel” (i.e. a wheel equipped with free rotating rollers) have been developed to increase mobility. However these structures have important drawbacks such as vertical vibration and limited load capacity. This paper presents a comparison of several types of universal wheel performances based on the three following criteria: load capacity, surmountable bumps and vertical vibration. It is hoped that this comparison will help the designer in the selection of the best suitable solution for his/her application

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996