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:
-
- 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 B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
- 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}
}
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
Performance of an Omnidirectional Wheel on Snow and Ice
journal, January 1991
- Blaisdell, George L.
- Naval Engineers Journal, Vol. 103, Issue 1