Velocity analysis of vehicle equipped with active omni wheels based on wheel layout

抄録

Transportation vehicles are expected to be able to move in an arbitrary direction quickly. The wheeled mechanism named active omni wheel that can move in both longitudinal and lateral directions was proposed to meet this demand. However, the velocity characteristics of the vehicle equipped with serval active omni wheels remain unknown. With this in mind, this paper analyzes the velocity characteristics of the vehicle with respect to four possible types of wheel layouts. The traveling velocity of the vehicle while rotating is schematically obtained by the intersection of the velocity distribution of each active omni wheel based on the wheel layouts.