Kiwi drive

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the BattleBot OMINOUS, shown here with a Kiwi Drive Kiwi drive.jpg
the BattleBot OMINOUS, shown here with a Kiwi Drive

A Kiwi drive is a holonomic drive system of three omni-directional wheels (such as omni wheels or Mecanum wheels), 120 degrees from each other, that enables movement in any direction using only three motors. This is in contrast with non-holonomic systems such as traditionally wheeled or tracked vehicles which cannot move sideways without turning first. [1] [2]

This drive system is similar to the Killough platform which achieves omni-directional travel using traditional non-omni-directional wheels in a three wheel configuration. [3]

It was named after the Flightless national bird of New Zealand, the Kiwi [4]

Motion

When only the front wheel is powered, the chassis will turn and strafe at once. If the back wheels turn the same amount in the same direction, the strafe is cancelled out, so the chassis will only turn. If the back wheels turn half as much in the opposite direction, the turn is cancelled out, so the chassis will only strafe. If the front wheel is not powered, and the back wheels turn the same amount in opposite directions, the chassis will only drive.

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A Killough platform is a three-wheel drive system that uses traditional wheels to achieve omni-directional movement without the use of omni-directional wheels. Designed by Stephen Killough, after which the platform is named, with help from Francois Pin, wanted to achieve omni-directional movement without using the complicated six motor arrangement required to achieve a controllable three caster wheel system. He first looked into solutions by other inventors that used rollers on the rims larger wheels but considered them flawed in some critical way. This led to the Killough system:

Picture a round platform with three motors underneath, each governing the motion of two wheels that look like miniature balloon tires. The wheels in each pair are mounted in a cage at right angles to each other; the motor can rotate the cage so that one wheel or the other is touching the ground at any one time. By configuring the three pairs of wheels to allow the same type of motion found in three pivoting casters, and by changing the relative speeds of the motors, Killough can make his robotic platform rotate, follow a straight or curved path, and even rotate while moving forward.

References

  1. Swart, Dirk (11 September 2014). "R/C Omniwheel Robot — Electronics | Make". Make: DIY Projects and Ideas for Makers. Retrieved 17 November 2018.
  2. "Kiwi Drive Kit with Cheap & Dirty Control System (am-3415) - AndyMark". Archived from the original on 4 September 2018. Retrieved 4 September 2018.
  3. "1997 Discover Awards: Automotive & Transportation: Cleaner Than Air | DiscoverMagazine.com". Discover Magazine. 1 July 1997. Retrieved 17 November 2018.
  4. "KIWI | Meaning & Definition for UK English | Lexico.com". Lexico Dictionaries | English. Archived from the original on February 27, 2020. Retrieved 2022-03-23.