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

Pin, Francois G; Killough, Stephen M

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.

Inventors:

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

Knoxville, TN

Issue Date:: 1994-01-01

Research Org.:: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

OSTI Identifier:: 869661

Patent Number(s):: 5374879

Assignee:: Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)

Patent Classifications (CPCs):: B - PERFORMING OPERATIONS B60 - VEHICLES IN GENERAL B60B - VEHICLE WHEELS

B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES

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B - PERFORMING OPERATIONS B60 - VEHICLES IN GENERAL B60B - VEHICLE WHEELS
B60B19/14 - Ball-type wheels

B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
B62D61/06 - with only three wheels

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J5/007 - {mounted on wheels}

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/0272 - {comprising means for registering the travel distance, e.g. revolutions of wheels

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DOE Contract Number:: AC05-84OR21400

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: 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; /318/180/

Citation Formats


                    Pin, Francois G, and Killough, Stephen M. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom.  United States: N. p., 1994. 
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                    Pin, Francois G, & Killough, Stephen M. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom.  United States.

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                    Pin, Francois G, and Killough, Stephen M. Sat .  
        "Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom".  United States.  https://www.osti.gov/servlets/purl/869661.

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@article{osti_869661,

  title        = {Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom},

  author       = {Pin, Francois G and Killough, Stephen 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.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1994},

  month        = {1}

}

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Works referenced in this record:

Kinematic modeling of wheeled mobile robots
journal, April 1987

Muir, Patrick F.; Neuman, Charles P.
Journal of Robotic Systems, Vol. 4, Issue 2
https://doi.org/10.1002/rob.4620040209

Performance of an Omnidirectional Wheel on Snow and Ice
journal, January 1991

Blaisdell, George L.
Naval Engineers Journal, Vol. 103, Issue 1
https://doi.org/10.1111/j.1559-3584.1991.tb00918.x

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

Abstract

Citation Formats

Kinematic modeling of wheeled mobile robots journal, April 1987

Performance of an Omnidirectional Wheel on Snow and Ice journal, January 1991

Kinematic modeling of wheeled mobile robots
journal, April 1987

Performance of an Omnidirectional Wheel on Snow and Ice
journal, January 1991