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Mechatronic Design of a Mixed Conventional/Braking Actuation Mobile Robot

[+] Author Affiliations
Jeremy W. Simmons, II, Walelign M. Nikshi, Mark D. Bedillion, Randy C. Hoover

South Dakota School of Mines and Technology, Rapid City, SD

Paper No. IMECE2016-65287, pp. V04AT05A061; 9 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


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.

Copyright © 2016 by ASME



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