Mobile Robot Bases. Types of Mobile Robot Bases Ackerman Drive – typical car...

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Transcript of Mobile Robot Bases. Types of Mobile Robot Bases Ackerman Drive – typical car...

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Mobile Robot Bases

Types of Mobile Robot BasesAckerman Drivetypical car steeringnon-holonomic

Types of Mobile Robot BasesOmni Drivewheel capable of rolling in any directionrobot can change direction without rotating base

Synchro Drive

Types of Mobile BasesDifferential DriveTwo independently driven wheels on opposite sides of the robot3 DoF: pose = [x,y,]Holonomic: can be treated as a massless point that can move in any direction

Types of Mobile Robot BasesGear motor with 24T gear in the Frame

Picture courtesy of Terry GrantLEGO Gears

8T16T24T40T

24TCrown1T Worm

Bevel

Lego tips: StructureCommon pitfall when trying to increase mechanical robustness:

StructureThe right way: