| contributor author | Chao Chen | |
| contributor author | Jorge Angeles | |
| date accessioned | 2017-05-09T00:25:12Z | |
| date available | 2017-05-09T00:25:12Z | |
| date copyright | January, 2007 | |
| date issued | 2007 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27840#7_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/136533 | |
| description abstract | This paper proposes innovative drives for omnidirectional and quasi-omni-directional wheeled mobile robots. A novel epicyclic cam transmission is developed to transmit motion in the drives, with some advantages over its gear-train counterparts: low friction, high stiffness, and high precision. In this work, three new indices, the contact ratio in cam transmissions, the generalized transmission index, and the total transmission index, are proposed to evaluate the force and motion transmission qualities. Furthermore, the first two indices are the objective functions of the design of the dual-wheel transmission, the final design thus achieving the best transmission performance. The reported drives have been virtually prototyped. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Optimum Kinetimatics Design of Drives for Wheeled Mobile Robots Based on Cam-Roller Pairs | |
| type | Journal Paper | |
| journal volume | 129 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2359476 | |
| journal fristpage | 7 | |
| journal lastpage | 16 | |
| identifier eissn | 1528-9001 | |
| keywords | Design | |
| keywords | Wheels | |
| keywords | Rollers | |
| keywords | Discrete wavelet transforms AND Mobile robots | |
| tree | Journal of Mechanical Design:;2007:;volume( 129 ):;issue: 001 | |
| contenttype | Fulltext | |
