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

Full Record
Similar

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/

Full Text
File size N/AView Full Text

Similar records in DOepatents and OSTI.GOV collections:

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

Patent Pin, F.G. ; Killough, S.M.

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. 6 figures.
December 1994
Omni-directional railguns

Patent Shahinpoor, Mohsen

A device for electromagnetically accelerating projectiles. The invention features two parallel conducting circular plates, a plurality of electrode connections to both upper and lower plates, a support base, and a projectile magazine. A projectile is spring-loaded into a firing position concentrically located between the parallel plates. A voltage source is applied to the plates to cause current to flow in directions defined by selectable, discrete electrode connections on both upper and lower plates. Repulsive Lorentz forces are generated to eject the projectile in a 360 degree range of fire.
Full Text Available January 1995
Ultra-wideband, omni-directional, low distortion coaxial antenna

Patent Eubanks, Travis Wayne ; Gibson, Christopher Lawrence

An antenna for producing an omni-directional pattern, and using all frequencies of a frequency range simultaneously, is provided with first and second electrically conductive elements disposed coaxially relative to a central axis. The first element has a first surface of revolution about the axis, the first surface of revolution tapering radially outwardly while extending axially away from the second element to terminate at a first axial end of the first element. The second element has a second surface of revolution about the axis, the second surface of revolution tapering radially outwardly while extending axially toward the first element to terminatemore »« less
Full Text Available January 2015
Lens positioner with five degrees of freedom

Patent Kobierecki, Marian W. ; Rienecker, Jr., Frederick

A device for positioning lenses precisely with five degrees of freedom (three translations and two angular rotations). The unique features of the device are its compact design, large clear aperture, and high degree of positioning accuracy combined with five degrees of freedom in axis motion. Thus, the device provides precision and flexibility in positioning of optical components. BACKGROUND OF THE INVENTION The invention described herein was made in the course of, or under, Contract No. AT(29-1)-1183, with the United States Energy Research and Development Administration.
Full Text Available January 1978
Precision tool holder with flexure-adjustable, three degrees of freedom for a four-axis lathe

Patent Bono, Matthew J ; Hibbard, Robin L

A precision tool holder for precisely positioning a single point cutting tool on 4-axis lathe, such that the center of the radius of the tool nose is aligned with the B-axis of the machine tool, so as to facilitate the machining of precision meso-scale components with complex three-dimensional shapes with sub-.mu.m accuracy on a four-axis lathe. The device is designed to fit on a commercial diamond turning machine and can adjust the cutting tool position in three orthogonal directions with sub-micrometer resolution. In particular, the tool holder adjusts the tool position using three flexure-based mechanisms, with two flexure mechanisms adjustingmore »« less
Full Text Available March 2008