OMNIDIRECTIONAL MOBILE ROBOT WITH VARIABLE FOOTPRINTING MECHANISMS, CAPABLE OF MOVING BY USING A HUB-TYPED DRIVING MODULE

摘要

PURPOSE: An omnidirectional mobile robot with variable footprinting mechanisms is provided to prevent the risk of overturn by properly responding to the environmental change of driving by equipping a variable ground plane structure and to enable an easy assembly with a compact composition by equipping a hollow wheel in which a drive module is built.;CONSTITUTION: An omnidirectional mobile robot with variable footprinting mechanisms comprises a base plate(1100), a steering deceleration unit(1300), a steering column unit, a driving module(1500), a driving module case(1600), and a variable ground plane mechanism unit(1200). The steering deceleration unit is mounted on the base plate. The steering column unit is connected to the base plate and consists of the steering movements of the base plate after receiving the steering force from the steering deceleration unit. The driving module is mounted on the steering column unit and produces a driving force to move the base plate. The driving module case is connected to the driving module and moves the base plate by generating the driving force which is transferred from the driving module on the ground. The variable ground plane mechanism unit relatively operates the steering column unit about the base plate and varies the occupied area of the driving module case on the ground.;COPYRIGHT KIPO 2013