Design and control of a heavy-load, low-cost power-assisted cart using brakes and a differential gear system

Yuta Wakabayashi, Akira Seino, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this study, we propose a low-cost power-assisted cart that distributes the torque of a motor using a differential gear and brakes. Carts are designed to help transport heavy payloads and have multiple applications. As the cart size and payload weight increase, cart operation becomes difficult. This led to the development of power-assisted carts, which employ actuators to support the workload. Adding several actuators and high-performance sensors actually increases cart maneuverability; however it increases the cart cost. Commercialization of power-assisted carts warrants that their cost should be decreased without compromising their maneuverability. To this end, we created a power-assisted cart using a motor and a few simple inexpensive sensors. The motor torque is distributed using a differential gear and brakes. However, the characteristics of the differential gear cause an increase in the speed of the cart when turning; hence, we implemented a control algorithm that regulates cart speed during turning. Through experiments, we confirmed that the speed of the cart during turning was kept constant, thereby validating the effectiveness of the developed algorithm.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4-9
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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    Wakabayashi, Y., Seino, A., Kinugawa, J., & Kosuge, K. (2017). Design and control of a heavy-load, low-cost power-assisted cart using brakes and a differential gear system. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 4-9). [8013986] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8013986