Design and development of steered active wheel casters and its application

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, omnidirectional powered-wheelchairs that have high mobility at a narrow space or a place with many obstacles are studied actively. Many of conventional omnidirectional mechanisms use special wheel mechanisms, such as a mecanum wheel etc. However, this mechanism is unsuitable for use in powered-wheelchairs, because of having problems, such as serious vibrations while moving, low loadability, etc. In previous studies, an active dualwheel caster that can use general rubber tires and an omnidirectional mobile platform using several such assemblies have been developed. However, there is a problem that omnidirectional movement becomes impossible, when one of wheels in this assembly would run aground to a level difference or idle. The objective of this study is to develop an omnidirectional mobile platform to solve this problem, where the platform uses several steered active wheel caster assemblies. Also, a rocker-bogie system that is a kind of suspension systems is used for the platform to improve traveling performance. In this paper, we give an overview of the steered active wheel caster assembly and propose a mobile platform, and describe the production process and experimental results.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages507-512
Number of pages6
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - Aug 23 2017
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: Aug 6 2017Aug 9 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period8/6/178/9/17

Keywords

  • Omnidirectional
  • Rocker-bogie system
  • Steered Active Caster Assembly

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Artificial Intelligence
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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  • Cite this

    Ueno, Y., Watanabe, K., & Nagai, I. (2017). Design and development of steered active wheel casters and its application. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 507-512). [8015869] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015869