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

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

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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 B25 - HAND TOOLS B25J - MANIPULATORS

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

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

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

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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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