Publication detail

Ackermann mobile robot chassis with independent rear wheel drives

HRBÁČEK, J. RIPEL, T. KREJSA, J.

Original Title

Ackermann mobile robot chassis with independent rear wheel drives

Type

conference paper

Language

English

Original Abstract

The paper describes four-wheeled robotic chassis of the autonomous mobile robot Bender II utilizing Ackermann steering and independent rear drive units. The robot is designed for the use in outdoor environment. Independent rear drive gives better traction in uneven terrain with the cost of doubling the motion hardware (motors, gears and controllers). Hardware and software implementation details as well as practical experiences of this approach deployment are presented.

Keywords

Electrical Drive, Mechatronics, Motion control, Robotics

Authors

HRBÁČEK, J.; RIPEL, T.; KREJSA, J.

RIV year

2010

Released

6. 9. 2010

Location

Skopje, Republic of Macedonia

ISBN

978-1-4244-7856-9

Book

Proceedings of EPE-PEMC 2010

Pages from

T5-46

Pages to

T5-51

Pages count

6