Mobile Robot Bases. Types of Mobile Robot Bases Ackerman Drive – typical car steering – non-holonomic.

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Presentation transcript:

Mobile Robot Bases

Types of Mobile Robot Bases Ackerman Drive – typical car steering – non-holonomic

Types of Mobile Robot Bases Omni Drive – wheel capable of rolling in any direction – robot can change direction without rotating base Synchro Drive

Types of Mobile Bases Differential Drive – Two independently driven wheels on opposite sides of the robot – 3 DoF: pose = [x,y,Θ] – Holonomic: can be treated as a massless point that can move in any direction

Types of Mobile Robot Bases

Gear motor with 24T gear in the Frame Picture courtesy of Terry Grant

LEGO Gears 8T 16T 24T 40T 24T Crown 1T Worm Bevel

Lego tips: Structure Common pitfall when trying to increase mechanical robustness:

Structure The right way: