A practical implementation of a continuous isotropic spherical omnidirectional drive

Ball, David, Lehnert, Chris, & Wyeth, Gordon (2010) A practical implementation of a continuous isotropic spherical omnidirectional drive. In Snyder, Westley (Ed.) Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), Institute Of Electrical and Electronic Engineers, Egan Center, Anchorage, Alaska, pp. 3775-3780.

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This paper presents a continuous isotropic spherical omnidirectional drive mechanism that is efficient in its mechanical simplicity and use of volume. Spherical omnidirectional mechanisms allow isotropic motion, although many are limited from achieving true isotropic motion by practical mechanical design considerations. The mechanism presented in this paper uses a single motor to drive a point on the great circle of the sphere parallel to the ground plane, and does not require a gearbox. Three mechanisms located 120 degrees apart provide a stable drive platform for a mobile robot. Results show the omnidirectional ability of the robot and demonstrate the performance of the spherical mechanism compared to a popular commercial omnidirectional wheel over edges of varying heights and gaps of varying widths.

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2 citations in Scopus
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1 citations in Web of Science®

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ID Code: 38327
Item Type: Conference Paper
Refereed: Yes
Keywords: Drive, Robot Dynamics, Wheels, Spherical Mechanisms, Mobile Robot
DOI: 10.1109/ROBOT.2010.5509645
ISBN: 9781424450381
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 Institute of Electrical and Electronics Engineering
Deposited On: 04 Nov 2010 02:59
Last Modified: 29 Feb 2012 14:16

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