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Suboptimal Omnidirectional Wheel Design and Implementation.

Jordi Palacín1, David Martínez1, Elena Rubies1

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Heavy mobile robots with suspension can use suboptimal omnidirectional wheels. These wheels, despite larger gaps, offer comparable vibrations, lower costs, and better grip on uneven surfaces.

Keywords:
mobile robotomnidirectional motionvibration measurement

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Area of Science:

  • Robotics
  • Mechanical Engineering

Background:

  • Optimal omnidirectional wheel design minimizes roller gaps to reduce vibrations.
  • Heavy mobile robots often require suspension systems to mitigate vibrations from optimal wheels.

Purpose of the Study:

  • To evaluate if heavy mobile robots with passive suspension can utilize suboptimal omnidirectional wheels.
  • To assess the trade-offs between wheel gap optimization, cost, and performance.

Main Methods:

  • Empirical evaluation of vibration generation in a mobile robot.
  • Comparison of motion system vibrations using optimal versus suboptimal omnidirectional wheels.
  • Analysis of traction and grip on non-planar surfaces.

Main Results:

  • Suboptimal omnidirectional wheels with larger gaps produced comparable on-board vibration patterns.
  • Traction was maintained, and grip was increased on non-perfect planar surfaces.
  • Suboptimal wheels offer advantages in low manufacturing cost and outdoor operation.

Conclusions:

  • Passive suspension systems enable the use of suboptimal omnidirectional wheels for heavy mobile robots.
  • Non-optimized wheels present a cost-effective alternative without significant vibration penalties.
  • Suboptimal wheels enhance performance on uneven terrain, making them suitable for outdoor applications.