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https://doi.org/10.1115/1.2885512
Title: | Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels | Authors: | Oetomo, D. Ang Jr., M.H. |
Keywords: | Actuaton strategy Kinematic singularity Omnidirectional motion Parallel mechanism Powered caster wheels |
Issue Date: | May-2008 | Citation: | Oetomo, D., Ang Jr., M.H. (2008-05). Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels. Journal of Mechanical Design, Transactions of the ASME 130 (5) : -. ScholarBank@NUS Repository. https://doi.org/10.1115/1.2885512 | Abstract: | 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. Copyright © 2008 by ASME. | Source Title: | Journal of Mechanical Design, Transactions of the ASME | URI: | http://scholarbank.nus.edu.sg/handle/10635/61323 | ISSN: | 10500472 | DOI: | 10.1115/1.2885512 |
Appears in Collections: | Staff Publications |
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