Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom
Abstract
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
- Patent Number(s):
- 5374879
- Application Number:
- PPN: US 7-971171
- Assignee:
- Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States)
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Patent
- 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
Citation Formats
Pin, F G, and Killough, S M. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom. United States: N. p., 1994.
Web.
Pin, F G, & Killough, S M. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom. United States.
Pin, F G, and Killough, S M. Tue .
"Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom". United States.
@article{osti_6656172,
title = {Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom},
author = {Pin, F G and Killough, S M},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1994},
month = {12}
}