Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom

Patent · Sat Jan 01 00:00:00 EST 1994

OSTI ID:869661

Pin, Francois G ^[1]; Killough, Stephen M ^[1]

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1. Knoxville, TN

A wheel assembly includes a support, a cage rotatably mounted on the support and having a longitudinal rotation axis, a first ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis of the cage, and a second ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis or the cage and to the rotation axis of the first ball wheel. A control circuit includes a photodetector signal which indicates ground contact for each ball wheel, and a tachometer which indicates actual drive shaft velocity.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
• DOE Contract Number: AC05-84OR21400
• Assignee: Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
• Patent Number(s): US 5374879
• OSTI ID: 869661
• Country of Publication: United States
• Language: English

Related Subjects

omni-directional
holonomic
rolling
platform
decoupled
rotational
translational
degrees
freedom
wheel
assembly
support
cage
rotatably
mounted
longitudinal
rotation
axis
ball
orthogonal
control
circuit
photodetector
signal
indicates
ground
contact
tachometer
drive
shaft
velocity
wheel assembly
rotatably mounted
control circuit
drive shaft
rotation axis
detector signal
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