Novel Holonomic Driving Wheel Mechanism for Omnidirectional Motion in Two-Wheeled Robots

초록

This work presents a robotic implementation of a holonomic wheel mechanism that achieves omnidirectional motion through a compact dual-input differential drive. A single-sided differential gear assembly combined with a compliant toroidal tire is introduced as the core mechanical configuration. The tire functions as a deformable, coreless structure actuated through a roller-pinion interface that preserves the internal actuation path under tire deformation. The kinematic relationships governing the dual-input mechanism are formulated, and a velocity-control-based coupled response model is introduced to describe the motor-side behavior under commanded rolling, lateral, and diagonal motion. A prototype two-wheeled platform, consisting of one active and one passive omnidirectional wheel, is evaluated through trajectory-level motion tests and motor-side velocity/current measurements. The results demonstrate the feasibility of the proposed mechanism and characterize the coupled response of the two input axes without claiming transmission efficiency or traction superiority over other active omnidirectional wheel mechanisms.

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