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Research Papers

Unified Treatment of the Kinematic Interface Between a Sphere and Omnidirectional Wheel Actuators

[+] Author and Article Information
A. Weiss

 Department of Mechanical Engineering, Ort Braude College of Engineering, Karmiel, Israelavi@braude.ac.il

R. G. Langlois

M. J. D. Hayes

 Department of Mechanics and Aerospace Engineering, Carleton University Ottawa, ON, Canada

J. Mechanisms Robotics 3(4), 041001 (Sep 26, 2011) (9 pages) doi:10.1115/1.4004888 History: Received June 12, 2009; Revised June 29, 2011; Published September 26, 2011; Online September 26, 2011

This paper presents a general approach to the kinematics of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The number and type of the omnidirectional wheels, as well as their position and orientation relative to the sphere are arbitrary, provided they are distinct. In this paper, the general kinematics are presented and illustrated by sample configurations with a range of omnidirectional wheel types and quantities. Moreover, no-slip conditions are identified, and the resulting expressions and their implications on the design of such a mechanical system are demonstrated by means of several benchmark examples.

FIGURES IN THIS ARTICLE
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Copyright © 2011 by American Society of Mechanical Engineers
Topics: Wheels , Kinematics
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Figures

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Figure 1

The Atlas table-top demonstrator highlighting the omnidirectional wheel actuation concept

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Figure 2

Inertial coordinate frame with origin at the geometric centre of the sphere

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Figure 3

A single-race omnidirectional wheel

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Figure 4

A dual-race omnidirectional wheel

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Figure 5

A triple-race omnidirectional wheel

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Figure 6

Contact point geometry when two races touch the sphere simultaneously

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Figure 7

Kinematic architecture for the orthogonal case

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Figure 8

Kinematic architecture for the Atlas sphere case

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Figure 9

A configuration that allows for slip-free conditions

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Figure 10

Kinematic architecture for the orthogonal case with six omnidirectional wheels

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