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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4-9
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8月 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7月 32017 7月 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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