CHAPTER 4. OMNI DRIVE MODULE
4.1. PRODUCT DESCRIPTION
• Being only partly completed machines, the Omni-Drive-Modules are not conform with all EC Directives appli-
cable for turnkey machinery.
• To achieve the level of safety required by the applicable directives the customer must integrate the ODM into
another machine. Additional measures might be necessary to ensure the safe operation of the completed ma-
chine.
• An independent assessment of risks has to be performed by the customer to verify conformity with all applicable
directives.
• Only the customer can be held responsible for the safe operation of the Omni-Drive-Module.
4.1 Product Description
The Neobotix Omni-Drive-Module is a two-axes drive unit for use in a mobile robot or a similar application.
The module contains two high-performance servomotors with an industrial grade servo amplifier each (“Whistle
10/60” from Elmo Motion Control), mounted to a common printed circuit board. One of the motors drives the mod-
ule’s driving wheel while the other motor rotates the wheel around its vertical axis. Both motors can rotate infinitely
without mechanical boundaries, thus allowing an omnidirectional robot to move continuously and without the need to
re-align the wheels due to any limits. The orientation drive features an inductive position switch which can be used
for homing.
Due to the high transmission ratio of both worm gearings, no brake is required. This significantly reduces the module’s
power consumption and heating. Fail-safe brakes can be integrated for additional safety.
4.1.1 Components
The Omni-Drive-Module is made up from the following components:
4.1.2 Possible Drive Kinematics
The Omni-Drive-Modules can be used to build several different drive kinematics according to the application’s re-
quirements. Each configuration has its own advantages and disadvantages. The most commonly used configurations
43