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Proceedings Paper

Proportional Drivewheel Power And Steering Electronics For A 3-Wheel Robot
Author(s): Victor W. Bolie
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Paper 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.

Paper Details

Date Published: 25 February 1987
PDF: 4 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937782
Show Author Affiliations
Victor W. Bolie, University of New Mexico (United States)

Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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