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Omnidirectional wheeled mobile robots: wheel types and practical applications

Omnidirectional wheeled mobile robots: wheel types and practical applications Omnidirectional wheeled mobile robots (OWMRs) have gained increasingly popularity because they can move into any direction, while their orientation can be pointed to any angles. Thus, the aims of this paper are to update a literature review of OWMRs and to categorise interesting research papers according to wheel types, wheel arrangements, and their practical applications. Wheel types are divided into special omnidirectional wheels and steerable conventional wheels. Advantages and disadvantages of each type of OWMRs are also pointed out in order to help robotic designers to choose an appropriate wheel mechanism. Then, practical applications are presented to show the usefulness of OWMRs. Keywords: omnidirectional mobile robots; special omnidirectional wheels; steerable conventional wheels; Mecanum wheels; universal wheels; wheel types; wheeled mobile robots; special wheels; powered castor wheels; steerable standard wheels. Reference to this paper should be made as follows: Kanjanawanishkul, K. (2015) `Omnidirectional wheeled mobile robots: wheel types and practical applications', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.289­302. Biographical notes: Kiattisin Kanjanawanishkul received his BEng in Electrical Engineering from Prince of Songkla University, Thailand in 2000. He received his MSc in Mechatronics from University of Siegen, Germany in 2006. He received his PhD in Computer Science http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Omnidirectional wheeled mobile robots: wheel types and practical applications

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.074788
Publisher site
See Article on Publisher Site

Abstract

Omnidirectional wheeled mobile robots (OWMRs) have gained increasingly popularity because they can move into any direction, while their orientation can be pointed to any angles. Thus, the aims of this paper are to update a literature review of OWMRs and to categorise interesting research papers according to wheel types, wheel arrangements, and their practical applications. Wheel types are divided into special omnidirectional wheels and steerable conventional wheels. Advantages and disadvantages of each type of OWMRs are also pointed out in order to help robotic designers to choose an appropriate wheel mechanism. Then, practical applications are presented to show the usefulness of OWMRs. Keywords: omnidirectional mobile robots; special omnidirectional wheels; steerable conventional wheels; Mecanum wheels; universal wheels; wheel types; wheeled mobile robots; special wheels; powered castor wheels; steerable standard wheels. Reference to this paper should be made as follows: Kanjanawanishkul, K. (2015) `Omnidirectional wheeled mobile robots: wheel types and practical applications', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.289­302. Biographical notes: Kiattisin Kanjanawanishkul received his BEng in Electrical Engineering from Prince of Songkla University, Thailand in 2000. He received his MSc in Mechatronics from University of Siegen, Germany in 2006. He received his PhD in Computer Science

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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