Design of a Cobot with Three Omni-Wheels

QCR 20170427
Collaborative robots (Cobots) have been proposed to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots us steering wheels; typical drawbacks of using steering wheels include (i) the difficulty to follow a trajectory with a curvature larger than that of the base platform, (ii) the difficulty to mount encoders on steering wheels due to self-spinning of the wheels, and (iii) the difficulty to quarantine dynamic control performance since it is purely kinematic control. In this paper, a new cobot with the omni-wheels has been proposed, and its design model has been developed, and a simulation has been conducted to validate this control performance.

Wang, LihuiHögskolan i Skövde,Institutionen för teknik och samhälle,Forskningscentrum för Virtuella system,University of Skövde(Swepub:kth)u1blju84 (författare)
Queen's University Belfast, UKInstitutionen för teknik och samhälle (creator_code:org_t)

Ingår i:Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing: Gemini International Ltd, s. 360-36797809562303319781615676279

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