Wheeled robots

1.- Introduction
1.1 Name (Credibility)
1.2 Advantages of wheeled robots
1.3 Benefits
1.4 Diferent parts of the presentation (Direction)
2.- Types of wheels
a) Standar wheels: just a conventional tire
- Fixed wheels
The rod can not rotate
The orientation of the wheel is contant
-Steering wheels
The rod can rotate
The orientation of the wheel is not contant
b) Special Wheels: mechanical structures including rollers or spheres. Full
movility in the plane.
-Swedish desing
-Spherical design
3.- Clasification of wheeled roobot structures acording to the types of wheels used
and their configuration
a) Type(3.0)

No fixed and no steering wheels and only Special wheels

Are called omnimobile

Full mobility in the plane without any reorientation

b) Type(2.0)

No steering wheels, at least one fixed wheels with a common axle

Mobility is restricted

Example: the wheelchair.

c) Type(2.1)

No fixed wheels and at least one steering wheel.

If there is more than one steering wheel, their orientations must be

coordinated

e) Type(1.2)

No fixed wheels, but at least two steering wheels

If there are more than two steering wheels, their orientation must be
coordinated

f) Type(1.1)

One or several fixed wheels on a single common axle, and also one or
several steering wheels

Their orientations are automatically coordinated

Example: Conventional car (often called car-like robots)

4.- Clasification of wheeled roobot structures acording to thenumber of wheels used

and some advantades and disadvantages
a) One wheel

Low rollling resistance

Unstable without dynamic control in order to maintain its balance of a

body

Difficult to control

b) Two wheels

Bicycle-type robot

Consist of a steering front wheel and a rear wheel to drive

Robot width can be reduced

Cant maintain its pose when the robot stands still

Rarely used

Example: Motorcycle or a bicycle

Inverted-pendulum-type robot

Static stability can be achieved by placing the center of gravity on

the wheel axle
Type (2.0)

Difficult to control

c) Three wheels

Statically stable

Simple structure

One of the most widely used structures

A large number of designs: synchronous drive, an omnidirectional robot

with steering wheels

d)Four or more wheels

Statically stable

A large number of designs

Most common: car-like structure

Two front steered synchronous wheels and two rear wheels to drive

Type (1.1) robot

Stable during high-speed motion

5.- Conclusion