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STRUCTURE AND KINEMATIC ANALYSIS OF OMNI-DIRECTIONAL MOBILE ROBOTS

ZHAO Dong bin, YI Jian qiang, DENG Xu yue (Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China)  
Omni directional mobile robots have a high mobility, because of the full three degrees of freedoms on the motion plane. This paper discusses several typical structures of omni directional mobile robots, and analyzes their kinematics. An omni directional mobile robot developed in our laboratory is finally proposed.
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