Typically, mobile robots are based on either Differential steering or Ackermann steering. We have combined the two, utilizing their advantages and omitting their disadvantages.
A differential-wheeled robot varies the drive output of its two drive wheels in a differential manner to generate a curvilinear motion. This method’s drive path is unstable due to its reliance on surface friction, tire wear, and the distance between the driving wheels.
An Ackermann-wheeled robot turns the front wheels to allow it to deviate from a straight line. The point of the steering mechanism is to avoid tires slip sideways when driving in a curvilinear motion. While ensuring controllability and stability, the wheel frame suffers from low agility and high turning radius.
Our agile robot has steering, and drive forces separated through its innovative wheel frame. This constellation makes it simpler to predict the robot’s drive path and movement becomes more energy-efficient since all available drive torque goes into propelling the robot forward. Additionally, our solution utilizes the agility from differential steering and the stability from Ackermann steering.