Omni-Directional Mobility Using Active Split Offset Castors

Abstract

An omni-directional mobility platform design concept using two active split offset castors (ASOC) and one or more conventional castors is presented. An ASOC module consists of two coaxial conventional wheels driven independently and connected to the platform via an offset link. The kinematics and implementation of the omni-directional platform is described and analyzed. Particular attention is paid to the system performance on uneven floors. The fundamental mechanics of the ASOC wheel scrubbing, which is critical to system wear and energy use, is analyzed and compared to conventional active castor designs. The effectiveness of the design is shown experimentally using an intelligent mobility aid for the elderly.