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The kinematical characteristic of an AMR describes its ability to move in the environment. AMRs differ in their movement behavior due to different chassis geometry. They are decisive for different envelopes (boundary lines of the area swept by the AMR) and wheel tracks. The possible movement behavior of an AMR is determined by the number of degrees of freedom of the undercarriage. A vehicle can either be linear or area-moving with the linear AGV having two degrees of freedom while the area moving AGV has three degrees of freedom of movement in its driving plane.
Differential Drive Kinematics 2-DOF Linear Moving
In the control of the differential drive axle, two drives are fixed on an axle. The AMR can thus drive curves by corresponding change in the rotational speeds of the drives. When reducing the speed of the left drive and the same increase of the right drive a curve is driven in the left direction accordingly. This configuration is the most widely used and most suitable for most AMR applications.
Differential Pivot Passive Drive Kinematics 2-DOF Linear Moving
Pivots are steered wheels on an AMR that have their own center of rotation. A pivot can be realized in two different forms, namely active and passive. The passive steering on the other hand has a differential axis system on the ground, in which both wheels are responsible for the movement as well as the steering angle. This configuration has excellent performance especially in tunnel-type AMR applications where the robots are very long.
Differential Pivot Active Drive Kinematics 2-DOF Linear Moving
The active version uses one motor for steering and another motor for driving with one wheel on the floor. Whereas the passive version uses two motors that are mounted on a freely rotating. Depending on the hardware setup of the pivote active, the longitudinal velocity of the kinematical center between the two rear wheels is superimposed with the angular velocity resulting from the steering angle of the third wheel. The steered wheel (tricycle active) is used to control the orientation of the rotation axis.
4-Pivot Active Drive Kinematics 3-DOF Omnidirectional Movement
The rotating pivots are used to control the movement of the AMR. The active version uses one motor for steering and another motor for driving with one wheel on the floor.The active version has one wheel on the ground and one motor that is solely and actively handling the steering angle.
Mecanum Wheel Drive Kinematics 3-DOF Omnidirectional Movement
Mecanum wheels enable an omnidirectional driving concept that allows the AMR to instantly move in any direction. The Mecanum wheel is constructed with a series of rubberized rollers that are attached with a 45-degree rotation to the wheel plane and at 45-degree to the axle line. Each wheel of a four-wheel configuration is independent and has its own powertrain. The rotation of each wheel generates a force perpendicular to the roller axle. The actual movement of the AGV is a result of the combined vector force from each individual wheel.