Mechatronic Design of a Mixed Conventional/Braking Actuation Mobile Robot

摘要

This paper presents the design of a novel mixed conventional/braking actuation mobile robot (MAMR), which replaces conventional actuators used for steering with controllable brakes. The mechatronic design of a novel electromechanical braking actuator, its implementation in the MAMR, and the mechatronic design of the MAMR are presented. A motion experiment is also given as a demonstration. The MAMR presented in this paper implements a new platform for mobile robots which is composed of two electromechanical braking actuators and an omni-directional drive wheel. The electromechanical brake presented is an omni-directional ball transfer that is electronically lockable. When the brake is in the locked state, it generates a reactive friction force onto a dynamic system that, in the case of the MAMR, can be used to steer and brake. This platform offers a minimalistic approach to locomotion in mobile robots.