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Omnidirectional Robot Undercarriages with Standard Wheels: A Survey

: Jacobs, Theo

Postprint urn:nbn:de:0011-n-5490122 (4.1 MByte PDF)
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Created on: 19.7.2019

Verl, A.:
25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018 : 20-22 November 2018 in Stuttgart, Germany
Piscataway, NJ: IEEE, 2018
ISBN: 978-1-5386-7544-1
ISBN: 978-1-5386-7543-4
ISBN: 978-1-5386-7545-8
International Conference on Mechatronics and Machine Vision in Practice (M2VIP) <25, 2018, Stuttgart>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Mobiler Roboter; Fahrwerk; Omnidirektional; Automatisierung

In the last decades, omnidirectional mobile robot platforms have entered many areas of industrial automation and daily life. While platforms with universal and Mecanum wheels are quite common, standard wheels have the advantage of robustness against uneven ground and slippage. This paper gives an overview on recent developments in the design of omnidirectional undercarriages with standard wheels and categorizes mechanical designs according to their holonomy. Furthermore, requirements for different applications are discussed and simple evaluation criteria are proposed that can be used to compare designs.