skip to main content
DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

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:
 [1];  [1]
  1. Knoxville, TN
Issue Date:
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 B25 - HAND TOOLS B25J - MANIPULATORS
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. Web.
Pin, Francois G, & Killough, Stephen M. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom. United States.
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.
@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}
}

Patent:

Save / Share: