Mobile Robot Bases. Types of Mobile Robot Bases Ackerman Drive â€“ 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
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
Lego tips: StructureCommon pitfall when trying to increase mechanical robustness:
StructureThe right way: