Mid-sized omnidirectional robot with hydraulic drive and steering

Carl G. Wood; Trent Perry; Douglas Cook; Russell Maxfield; Morgan E. Davidson

doi:10.1117/12.497169

30 September 2003 Mid-sized omnidirectional robot with hydraulic drive and steering

Carl G. Wood, Trent Perry, Douglas Cook, Russell Maxfield, Morgan E. Davidson

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.497169
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Citation Download Citation

Carl G. Wood, Trent Perry, Douglas Cook, Russell Maxfield, and Morgan E. Davidson "Mid-sized omnidirectional robot with hydraulic drive and steering", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.497169

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available