HOLONOMIC DRIVE

SEMINAR BY-

ONKAR DESHPANDE

INTRODUCTION

• DEGREES OF FREEDOM

• DEGREES OF ACTUATION

• HOLONOMIC DRIVE

• SCOPE• Examples

– CAR

– HELECOPTER

– AEROPLANE

– TRAIN

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.

Classification

• OMNI WHEEL

• MECHANUM WHEEL

• SWERVE (CRAB)

• CASTOR WHEELS(FREE RUNNING)

Omni wheels

Omni wheels

• 3 wheel drive

Video

Omni wheels

• 4 wheel drive

Video

Mecanum wheels

Video

Swerve

Video

Omni wheels

• Vectors

• Components of vectors

Example

A

C

B

D

Components of Drive

• Joystick

• ADC

• Microprocessor

• Timer(PWM)

• Motor Drivers

• Motors

• Omni wheels

Advantages (3wd)

• 3 Points make a plane.

• Maneuverability

• Area of access

Disadvantages

• Expensive.

• Efficiency

• Friction loss

• Position control is difficult.

• Mounting and Manufacturing of the system

Future scope

Future scope

• Industrial Inventory Management.

• Public vehicles transport.

• Shopping Carts, or smaller material transport vehicles.

• Exploration and study of unknown, probably hostile environments.

• Mining

Conclusion

• Maneuverability

• Accessibility

• Cost

• Losses

• Uses