Different mobile robots platforms have different configurations, different configurations will bring performance differences, performance differences determine the application of the scene. This paper mainly from the robot chassis configuration and wheels and other aspects of the common mobile robot chassis structure is introduced and analyzed.
1. Ackerman Chassis For Large Robot
Ackermann chassis is a standard structure for passenger cars, which realizes vehicle steering and handling by turning the vehicle by different steering angles. It has good handling performance, stability, and comfort.
2. Two-Wheel Differential Chassis
The two-wheel drive differential chassis structure consists of two differential wheels: the driving and following wheels. In the automatic operation state, this chassis trolley can travel forward and backward and can turn vertically. Compared with the rudder wheel-driven four-wheel walking mechanism trolley, this model can not only save space due to the elimination of the rudder wheel, but the trolley can be made smaller, so it is commonly used in latent AMR. 2-wheel differential chassis is widely used in indoor distribution and transportation scenarios such as warehousing, transportation, and hotel distribution.
3. Four-Wheel Differential Chassis
The four differential assembly chassis adds two pairs of differential wheelsets based on the double differential assembly chassis, which gives the vehicle more vigorous passing and maneuvering performance. The four differential assembly chassis is mainly applied to heavy-duty vehicles because its chassis is equivalent to a more flexible, less wear and tear on the ground, and a substantial load capacity. At present, many last-mile delivery robots also use the four differential chassis because the four differential chassis are more suitable for working in the snow in winter; in the snow, there can be better steering and movement.
4. Four Rudder Wheel Chassis （4WD-4WS Omni Wheel Robot）
The 4WD-4WS chassis structure realizes the lateral, oblique, and in-situ rotary motion of AGV through the angle and speed of 4 wheels, which has become a research hotspot in heavy-duty mobile robots in recent years. The AGV with a 4-wheel chassis structure can meet the requirements of flexibility in narrow working spaces and applicability in complex road conditions in a workshop at the same time, and this chassis can be used if the application scenario is reasonably narrow roadside.
5. Mecanum Wheel Chassis
Mecanum wheel chassis is a kind of omni-directional wheel with special structure. In recent years, omni-directional mobile AGVs based on Mecanum wheel chassis have also begun to gradually come into people’s view and play a role in some special application scenarios. Compared with the universal wheel, the Mecanum wheel chassis is characterized by flexibility, precision and high efficiency, and it is a kind of universal wheel that can be controlled. The biggest feature of AGV based on Mecanum wheel chassis compared with general AGV is its flexible operation and small space occupation.
6. Single Differential Assembly Chassis
The single differential assembly chassis consists of speed-adjustable differential drive wheels and a movable linkage turntable, which together form a differential wheelset driven by the differential speed of the left and right wheels. Relying on the movable turntable mechanism installed in the center, an overall stable steering and angle control can be accomplished quickly. It can provide better driving force and maneuvering performance and is suitable for driving needs under various road conditions.
7. Dual Differential Assembly Chassis
The Dual Differential Assembly (DDA) chassis is similar in structure to the Single Differential Assembly (SDA) chassis and consists of two pairs of differential wheelsets, allowing the left and right wheels to be controlled independently. The dual differential assembly chassis has better maneuverability and passability than the single differential assembly chassis.
8. Fo Differential Assembly Chassis
The four differential assembly chassis adds two pairs of differential wheelsets based on the double differential assembly chassis, which gives the vehicle more vigorous passing and maneuvering performance. The four-differential assembly chassis is mainly used for heavy-duty vehicles because its chassis is equivalent to a more flexible, less wear and tear on the ground, and has a strong load capacity.
9. Single Rudder Wheel
The single rudder wheel structure is one of the simplest chassis structures; it consists of 1 rudder wheel and two directional wheels, and the forklift truck has an extensive range of applications. The single rudder wheel chassis structure can be directly adapted to various grounds to ensure the drive rudder wheel is on the ground. Simple structure, low cost, single wheel drive, no need to consider the motor with the problem, suitable for a wide range of environments and occasions.
10. Dual Rudder Wheel Chassis
Dual steering wheel chassis structure is one of the most common structures in the market today, its chassis consists of two driving wheels and one or more non-driving wheels and is usually applied to medium-load AGVs. The dual steering wheel chassis design is widely used in the market because it can realize 360° rotary function and universal traverse with high flexibility and precise running accuracy.
