ArticleSensors (Basel, Switzerland)2021
Suboptimal Omnidirectional Wheel Design and Implementation.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- Experimental Evaluation of Rolling Resistance in Omnidirectional Wheels Under Quasi-Static Conditions.Sensors (Basel, Switzerland) · 2025Article
- Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree.Sensors (Basel, Switzerland) · 2023Article
- Assistance Robotics and Sensors.Sensors (Basel, Switzerland) · 2023Article
- Optimal PID Control of a Brushed DC Motor with an Embedded Low-Cost Magnetic Quadrature Encoder for Improved Step Overshoot and Undershoot Responses in a Mobile Robot Application.Sensors (Basel, Switzerland) · 2022Article
- Enhancing the Sense of Attention from an Assistance Mobile Robot by Improving Eye-Gaze Contact from Its Iconic Face Displayed on a Flat Screen.Sensors (Basel, Switzerland) · 2022Article
- Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant.Sensors (Basel, Switzerland) · 2021Article
- Determination of the Kinematic Excitation Originating from the Irregular Envelope of an Omnidirectional Wheel.Sensors (Basel, Switzerland) · 2021Article
- Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments.Sensors (Basel, Switzerland) · 2021Article
- Frequency Spectra Analysis of Drawbar Pulls Generated by Special Driving Wheels Improving Tractive Performance.Sensors (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.