Proportional Drivewheel Power And Steering Electronics For A 3-Wheel Robot

Victor W. Bolie

doi:10.1117/12.937782

25 February 1987 Proportional Drivewheel Power And Steering Electronics For A 3-Wheel Robot

Victor W. Bolie

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937782
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

A power electronics system for a mobile robot with ±12 volt batteries was developed, starting with a basic 3-wheel chassis with on-off drive motors, pneumatic tires, and manu-ally steered nosewheel. Power steering was provided by installing a suitable motor, gearbox, roller-chain, and sprockets. A steering servo was realized by adding a differential power amplifier and feedback potentiometer. Using an input pulse train of variable duty cycle, an independently controllable power module for each of the two drivewheel motors was designed for proportional no-load speed response. Circuit details and test results are presented.

Citation Download Citation

Victor W. Bolie "Proportional Drivewheel Power And Steering Electronics For A 3-Wheel Robot", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937782

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