Omni-Directional Mobility Using Active Split Offset Castors

@inproceedings{Yu2004OmniDirectionalMU,
  title={Omni-Directional Mobility Using Active Split Offset Castors},
  author={Haoyong Yu and Matthew Spenko and Steven Dubowsky},
  year={2004}
}
An omni-directional mobility platform design concept using two active split offset cas (ASOC) and one or more conventional castors is presented. An ASOC module cons two coaxial conventional wheels driven independently and connected to the platfor an offset link. The kinematics and implementation of the omni-directional platform described and analyzed. Particular attention is paid to the system performance on u floors. The fundamental mechanics of the ASOC wheel scrubbing, which is critic system… CONTINUE READING

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