Mobile robots with 1 , 2 or 3 wheels

Driving robots can be: • 1. Non-Holonomic • 2. Holonomic (Omni-Directional) • 3. Wheels • 4. Tracks
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1.Meccano and Omni wheeled Vehicles

2.Famous Mobile Robots

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6.Driving Robots

7.Driving Robots Driving robots can be: • 1. Non-Holonomic • 2. Holonomic ( Omni-Directional ) • 3. Wheels • 4. Tracks

8.Single Driven Wheel

9.Types of wheels = vehicles with single driven wheel Meccano Wheels

10.Types of wheels = vehicles with single driven wheel Meccano Wheels

11.What is good and bad about this design?

12.Two Driven Wheels

13.Two-Wheeled vehicles Segway RMP Robot Scout Scuter Piaggio Robot Neptun CMU Three-wheeled vehicles Two-wheeled vehicles

14.Robots with 2 wheels and additional support points Increase of stability

15.Differential Drives

16.Differential Drive

17.Differential Drive

18.Example of Differential Drive Design: Robot Eve of Braunl

19.Another Example of Differential Drive Design: Robot SoccerBot for robot soccer competitions

20.Another Example of Differential Drive Design: Laboratory wheeled robot LabBot

21.Another Example of Differential Drive Design: Laboratory wheeled robot LabBot

22.Ackermann Drive

23.Ackermann Drive

24.Application of Ackerman Drives

25.Driving motor A Steering motor B

26.Steering motor control with respect to variable steer_angle

27.Example of Ackerman Drive Robot: Four Stooges

28.Three Driven Wheels

29.Robots with 3 wheels 3 spheric wheels Tribolo