| Title |
Single Motor and Solenoid Actuator-based Four-wheel Steering System Design for Improving the Rotational Performance of Smart Farm Robots |
| Authors |
변수환(SooHwan Byeon) ; 박재병(Jaebyung Park) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.1.131 |
| Keywords |
Mobile robot design; Counter steering; In-place rotation |
| Abstract |
This paper proposes a mobile robot steering structure capable of in-place rotation and counter-steering with a single motor and a solenoid actuator. Generally, differential drive robots, car-like robots, and AWS(All-Wheel-Steering) robots are chosen as a mobile robot structure. Differential drive robots have been being chosen since they are easy to make. However, they cause a lot of slip when they rotate compared to other structures. In this case, they cannot even rotate in place on a surface like asphalt with high friction. Car-like robots cause less slip than differential drive robots but they cannot rotate in place. To compensate for these weaknesses, we could use AWS robots but it requires as many steering motors as the number of drive motors. It makes the hardware and software systems of robots more complex and expensive. Therefore, we propose a novel mobile robot structure with high maneuverability like AWS robots. In this structure, we newly design the gear train with a solenoid actuator to change the driving mode of the robots between in-place rotation and counter steering using only one motor. The proposed structure has simpler electronic hardware and software systems than AWS robots but high enough maneuverability for self-driving or working on a smart farm. Besides, since a single motor as powerful as a few motors combined tends to be cheaper than the few motors, we can make the proposed system cheaper than AWS system. |