This paper presents the analysis of singularity and motion capability of a mobile platform articulated by offset powered caster wheels. Specifically, it presents the analysis of the equations of motion resulting in the sufficient and necessary actuation condition to yield a workspace that is entirely free of singular configurations. This paper shows that powering both the steer and drive joints on two sets of offset caster wheels in a mobile platform guarantees a singularity-free condition throughout the entire workspace. Analysis and discussion on equations of motions that lead to this result are presented.
Issue Section:
Technical Briefs
Keywords:
kinematic singularity,
actuation strategy,
powered caster wheels,
parallel mechanism,
omnidirectional motion,
mobile robots,
robot kinematics,
wheels
Topics:
Wheels
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.Copyright © 2008
by American Society of Mechanical Engineers
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