Electromechanical differential for robots that require moving in curved accelerated motion
DOI:
https://doi.org/10.46842/ipn.cien.v29n2a04Keywords:
autonomous vehicles, electromechanical differential, hub motors, Ackerman geometry, electric accelerator, differential control, mobile roboticsAbstract
In recent years, interest in autonomous vehicles has grown, both for industrial use and for public and personal transportation. As is well known, although LiDAR sensors and cameras are required to detect obstacles and pedestrians; neural networks and artificial intelligence to interpret the environment and make decisions; and/or GPS and real-time maps for precise navigation; etc., these vehicles ultimately require wheels or legs to move. In this work, an electromechanical differential is presented, which allows controlling the accelerated differential movement required when an autonomous vehicle turns laterally. The term electromechanical differential refers to an arrangement of three accelerators: one to control the vehicle’s acceleration, connected in series with the accelerator that independently controls each drive wheel. The control of the differential acceleration of the hub motors of the rear wheels of an electric vehicle, or of a robot’s legs, is achieved through the steering mechanism of the vehicle’s front wheels, considering Ackermann differential geometry. This approach makes it possible to minimize the number of complex automatic control systems, such as sensors and encoders. The pivot steering of the front axle, operated by the steering wheel to perform the vehicle’s turn, has a square-type structure, where the pivot rotates on a hub fixed to the chassis, while the ends of the square terminate: one at the tire and the other at the steering rod. This turning movement is associated with the hinge mechanism of an electric pedal accelerator, which opens and closes with the wheel’s rotation. These ideas can be extrapolated to an electromechanical differential for robots with two or four legs, either by pivoting on one leg or by differential movement.
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