Omnidirectional driving gears and their input mechanism with passive rollers

Kenjiro Tadakuma, Riichiro Tadakuma, Kyohei Ioka, Takeshi Kudo, Minoru Takagi, Yuichi Tsumaki, Mitsuru Higashimori, Makoto Kaneko

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

14 Citations (Scopus)

Abstract

As ordinary dual-axis driving mechanisms in X-Y directions, for example, commercially available X-Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X-Y stage can be disturbed by the wires of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X-Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2881-2888
Number of pages8
DOIs
Publication statusPublished - 2012 Dec 1
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Tadakuma, K., Tadakuma, R., Ioka, K., Kudo, T., Takagi, M., Tsumaki, Y., Higashimori, M., & Kaneko, M. (2012). Omnidirectional driving gears and their input mechanism with passive rollers. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2881-2888). [6385464] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385464