Study on omnidirectional driving mechanisms to realize holonomic power transmission

Riichiro Tadakuma, Kenjiro Tadakuma, Erick Fernando Moya Arimie

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

Abstract

We have been studying various types of omnidirectional driving mechanisms to realize holonomic power transmission for robotic manipulators and omnidirectional vehicles. These mechanisms have the same principle to realize holonomic power transmission. This principle of power transmission needs the mechanism with the active part and the passive part, and these active and passive parts should be perpendicular to each other. When the active part provides thrust to one direction, the passive part moves in the perpendicular direction to it smoothly without large frictional resistance. The omnidirectional wheel mechanism with the disc structure and the gear mechanism with passive rollers, that are introduced in this paper, move with the same principle described above. In this paper, we show the possibility of this locomotion principle and the development process with the spiral up approach to realize the novel omnidirectional power transmission functions for various applications.

Original languageEnglish
Title of host publication2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013
PublisherIEEE Computer Society
ISBN (Print)9781479915293
DOIs
Publication statusPublished - 2013 Jan 1
Externally publishedYes
Event2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013 - Nagoya, Japan
Duration: 2013 Nov 102013 Nov 13

Publication series

Name2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013

Other

Other2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013
CountryJapan
CityNagoya
Period13/11/1013/11/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Tadakuma, R., Tadakuma, K., & Arimie, E. F. M. (2013). Study on omnidirectional driving mechanisms to realize holonomic power transmission. In 2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013 [6710448] (2013 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2013). IEEE Computer Society. https://doi.org/10.1109/MHS.2013.6710448