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Title: 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 A
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}
}