Download - Holonomic drive
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HOLONOMIC DRIVE
SEMINAR BY-
ONKAR DESHPANDE
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INTRODUCTION
• DEGREES OF FREEDOM
• DEGREES OF ACTUATION
• HOLONOMIC DRIVE
• SCOPE• Examples
– CAR
– HELECOPTER
– AEROPLANE
– TRAIN
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HISTORY
• First omnidirectional wheel was patented in 1919 by J. Grabowiecki in the US .
• Swedish inventor Bengt Ilon around 1973 shows the design of the Ilon wheel and a fork lift built using them.
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Classification
• OMNI WHEEL
• MECHANUM WHEEL
• SWERVE (CRAB)
• CASTOR WHEELS(FREE RUNNING)
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Omni wheels
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Omni wheels
• 3 wheel drive
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Video
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Omni wheels
• 4 wheel drive
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Video
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Mecanum wheels
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Video
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Swerve
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Video
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Omni wheels
• Vectors
• Components of vectors
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Example
A
C
B
D
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Components of Drive
• Joystick
• ADC
• Microprocessor
• Timer(PWM)
• Motor Drivers
• Motors
• Omni wheels
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Advantages (3wd)
• 3 Points make a plane.
• Maneuverability
• Area of access
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Disadvantages
• Expensive.
• Efficiency
• Friction loss
• Position control is difficult.
• Mounting and Manufacturing of the system
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Future scope
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Future scope
• Industrial Inventory Management.
• Public vehicles transport.
• Shopping Carts, or smaller material transport vehicles.
• Exploration and study of unknown, probably hostile environments.
• Mining
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Conclusion
• Maneuverability
• Accessibility
• Cost
• Losses
• Uses