Global to push GA events into
skip to main content

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

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. 6 figures.
Inventors:
;
Issue Date:
OSTI Identifier:
6656172
Assignee:
Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States) PTO; EDB-95-030641
Patent Number(s):
US 5374879; A
Application Number:
PPN: US 7-971171
Contract Number:
AC05-84OR21400
Resource Relation:
Patent File Date: 4 Nov 1992
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; CONTROL EQUIPMENT; WHEELS; VEHICLES; PHOTODETECTORS; SPEED REGULATORS; EQUIPMENT 420200* -- Engineering-- Facilities, Equipment, & Techniques