Development of an In-Wheel Motor type Omni-Directional Wheel

Abstract

If the power drive unit of the mobile robot is made more compact, the use of the mobile robot is further increased. In a previous study, we proposed a compact omni-directional wheel by incorporating a flat motor and a thin speed reducer in a nested type omni-directional wheel.

In this report, we design the strength of the proposed nested type omni-directional wheel and evaluate the performance of the prototype of the two stage type cycloid drive.