Four-Wheel Linear Steering Structure Design with Improved Maneuverability Based on a Single Motor and Linear Actuator

In this paper, we propose a new steering structure to improve the structural robustness and maneuverability of the original steering structure designed in our previous study. Most mobile robot platforms are designed with a differential drive or all-wheel steering (AWS) models. Differential-drive robots have a simple structure and are easy to manufacture, but this structure causes considerable slipping when the robots rotate. The AWS model has such a high maneuverability that it can reduce slip, but this structure requires as many steering motors as driving motors. To address these problems, in our previous research, we designed the steering structure to be as highly maneuverable as AWS models using a single steering motor and a solenoid actuator. However, the original structure requires nonlinear control and is too complex to analyze for selecting the proper steering motor. Thus, in this work, we design a steering structure with a simpler mechanical structure that has structural robustness and is easy to analyze, control, and manufacture. In addition, the proposed structure can steer faster than the original one and even move a four-wheel robot horizontally.