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Development of an Omnidirectional Power-Assisted Cart

Go Hirano and Kouta Goto
Department of Electric and Electronic Engineering, Kindai University, Fukuoka, Japan

Abstract—A power-assisted cart controlled by forces applied from an operator is designed and developed. This cart is capable of determining the intended direction and velocity of the force applied on the handle. An intuitive operation of the cart is incorporated to facilitate the operator’s task as the cart moves in any direction. The developed cart is equipped with mechanum wheels so that it can move in any direction. To improve its operability, the movement task is classified into three types. The relationship between these three types and the operation force is determined and the cart’s kinematics derived. The derived kinematics are experimented, though an unstable motion selection is observed in some trials. This study reports a methodology that aims to reduce this instability. 

Index Terms— power-assisted cart, mechanum wheel, operational force, omnidirectional mobile robot

Cite: Go Hirano and Kouta Goto, "Development of an Omnidirectional Power-Assisted Cart," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 7, pp. 1024-1030, July 2020. DOI: 10.18178/ijmerr.9.7.1024-1030

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.