Joy Sfeir’s research while affiliated with American University of Beirut and other places

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Publications (1)

Design and modeling of a novel single-actuator differentially driven robot
  • Conference Paper

July 2014

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39 Reads

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7 Citations

Joy Sfeir

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In this paper, we introduce a concept design for a single-actuator differentially driven robot. The design is based on connecting two variable-diameter wheels to the same drive shaft. The wheels are designed to have engineered stiffness so that the diameters of the wheels are varied by shifting the weight of the drive mechanism from side to side. We also develop the kinostatic and dynamic models of the mobile platform, which is used later to perform motion planning techniques.

Citations (1)

... Some examples of type-II SAMR robots can be found in the literature. For example, the authors in [7] present a mobile robot with two variable-radius wheels driven by a single motor such that, when activating a clutch, this motor also displaces the center of mass of the robot along its main shaft, which modifies the relative radii of the wheels and produces a change in the direction of motion due to differential drive kinematics. The authors in [8,9] propose snake-like robots powered by a single tendon-driven actuator each robot. ...

Reference:

Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot
Design and modeling of a novel single-actuator differentially driven robot
  • Citing Conference Paper

  • July 2014

Joy Sfeir

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