A new fully mobile omnidirectional vehicle with improved kinematic, dynamic and dead reckoning performance is presented. The vehicle has a unique ball wheel mechanism which has no kinematic singularity and, moreover, possesses configuration-invariant kinematics and dynamics. Uniform kinematic and dynamic characteristics allow smooth motion and precise motion control. First, the ball wheel mechanism, with a unique ring bearing to hold a spherical tire, is presented. Second, we generalize upon this particular design and look for solutions within a wider class of mechanisms. Analysis reveals essential kinematic requirements and we show theoretically why spherical tires are difficult to hold. The ring bearing arrangement is developed as a solution to this problem. Third, incorporation of the ball wheels into vehicles is analyzed and optimized with respect to traction and anti-slip control. A prototype vehicle is designed, built and tested, and smooth motion and precision dead reckoning are accomplished.


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    Title :

    Design of ball wheel vehicles with full mobility, invariant kinematics and dynamics and anti-slip control


    Additional title:

    Entwicklung eines Fahrzeugs mit Kugelrädern und voller Mobilität, invariante Kinematik und Dynamik und Antischlupfregelung


    Contributors:
    West, M. (author) / Asada, H. (author)


    Publication date :

    1994


    Size :

    8 Seiten, 13 Bilder, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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