An omni-directional mobility platform design concept using two active split offset castors (ASOC) and one or more conventional castors is presented. An ASOC module consists of two coaxial conventional wheels driven independently and connected to the platform via an offset link. The kinematics and implementation of the omni-directional platform is described and analyzed. Particular attention is paid to the system performance on uneven floors. The fundamental mechanics of the ASOC wheel scrubbing, which is critical to system wear and energy use, is analyzed and compared to conventional active castor designs. The effectiveness of the design is shown experimentally using an intelligent mobility aid for the elderly.
Omni-Directional Mobility Using Active Split Offset Castors
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2003; rev. January 2004. Associate Editor: M. Raghavan.
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Yu , H., Spenko , M., and Dubowsky, S. (October 28, 2004). "Omni-Directional Mobility Using Active Split Offset Castors ." ASME. J. Mech. Des. September 2004; 126(5): 822–829. https://doi.org/10.1115/1.1767181
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