T2 omni-directional vehicle mechanical design

In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes the mechanical design of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a second- generation ODV and weighs 1350 lb with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of infinite rotation, presenting a unique solution to enhanced vehicle mobility requirements. Mechanical design of the wheel drive motors and the performance characteristics of the drive system are detailed. The steering and suspension system is discussed and the design issues associated with these systems are detailed. The vehicle system architecture, vetronics architecture, control system architecture, and kinematic-based control law development are described.