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

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:
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/