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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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

OSTI Identifier:: 869661

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

Patent Number(s):: US 5374879

Contract Number:: AC05-84OR21400

Research Org:: LOCKHEED MARTIN ENRGY SYST INC

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/

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