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Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot

Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot Purpose – This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose. Design/methodology/approach – To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot. Findings – The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism. Research limitations/implications – The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems. Originality/value – This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/IR-10-2014-0401
Publisher site
See Article on Publisher Site

Abstract

Purpose – This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose. Design/methodology/approach – To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot. Findings – The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism. Research limitations/implications – The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems. Originality/value – This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Jan 19, 2015

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