M. Lauria, I. Nadeau, P. Lepage, Y. Morin, P. Giguère, F. Gagnon, D. Létourneau, F. Michaud
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Kinematical Analysis of a Four Steered Wheeled Mobile Robot
This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot
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