Part

Drive base

You might say: wheels, mobile base, locomotion

A drive base produces the robot's gross motion with wheels, legs or rotors.

What it does

It moves the arm and tool to the work area and determines which body motions are direct.

Ask

Which body velocities can the base command without a manoeuvre?

What to look for

1. Wheels, legs or rotors under the robot
2. Gross motion toward the work area

Catalogue: Drive

• Differential drive: Two driven wheels give forward motion and turning, but no instantaneous sideways motion; Stretch 3 uses this base type. A base with two driven wheels that gives forward motion and turning without instantaneous sideways motion defines it; Stretch 3 is one example.
• Mecanum / omni wheels: Mecanum or omni wheels use angled rollers to create planar motion in more directions than a conventional wheel.
• Ackermann (car-like): Ackermann steering is car-like: steering geometry constrains the instantaneous turn and normally prevents turning in place.
• Legs: Legged bases place feet and shift body balance to cross terrain that wheels may not traverse; Spot is a four-legged example. A base that places feet and shifts body balance across terrain wheels may not traverse defines it; Spot is one example.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 13 §§13.1–13.2Mecanum wheels are similar, except that the spin axes of the circumferential rollers are not in the plane of the wheel.

Use it on your project

teardown-apply: hold "Drive base" (drive-base) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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