Details
| Original language | English |
|---|---|
| Title of host publication | MESA 2014 |
| Subtitle of host publication | 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (electronic) | 9781479922802 |
| Publication status | Published - 24 Oct 2014 |
| Event | 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2014 - Senigallia, Ancona, Italy Duration: 10 Sept 2014 → 12 Sept 2014 |
Abstract
Omnidirectional mobile robots offer interesting features for industrial and service applications, in particular, when operating in tight spaces. Compared to car-like nonholonomic vehicles, they provide a higher degree of maneuverability, and often require less complex path planning and control schemes. Three different types of holonomic wheels that enable omnidirectional motion have been proposed in literature: universal, Mecanum, and ball wheel mechanisms. A problem commonly associated with the first two wheel types is that they induce vibrations in the system due to the discontinuous contact points. In this article, a ball wheel mechanism with superior features including slip detection, free-wheel modus and attrition sensing is presented. The first prototype was built using additive manufacturing of polypropylene. The requirements for such a design are discussed. Based on the ball wheel drive presented in this article, a design for an omnidirectional mobile robot platform driven by three redundant ball wheel units is proposed. The velocity kinematic model of this mobile base is also addressed.
Keywords
- ball drive, free-wheel, holonomicity, mobile platform, redundancy
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Mechanical Engineering
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MESA 2014: 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. 6935568.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design of a holonomic ball drive for mobile robots
AU - Runge-Borchert, Gundula
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2014/10/24
Y1 - 2014/10/24
N2 - Omnidirectional mobile robots offer interesting features for industrial and service applications, in particular, when operating in tight spaces. Compared to car-like nonholonomic vehicles, they provide a higher degree of maneuverability, and often require less complex path planning and control schemes. Three different types of holonomic wheels that enable omnidirectional motion have been proposed in literature: universal, Mecanum, and ball wheel mechanisms. A problem commonly associated with the first two wheel types is that they induce vibrations in the system due to the discontinuous contact points. In this article, a ball wheel mechanism with superior features including slip detection, free-wheel modus and attrition sensing is presented. The first prototype was built using additive manufacturing of polypropylene. The requirements for such a design are discussed. Based on the ball wheel drive presented in this article, a design for an omnidirectional mobile robot platform driven by three redundant ball wheel units is proposed. The velocity kinematic model of this mobile base is also addressed.
AB - Omnidirectional mobile robots offer interesting features for industrial and service applications, in particular, when operating in tight spaces. Compared to car-like nonholonomic vehicles, they provide a higher degree of maneuverability, and often require less complex path planning and control schemes. Three different types of holonomic wheels that enable omnidirectional motion have been proposed in literature: universal, Mecanum, and ball wheel mechanisms. A problem commonly associated with the first two wheel types is that they induce vibrations in the system due to the discontinuous contact points. In this article, a ball wheel mechanism with superior features including slip detection, free-wheel modus and attrition sensing is presented. The first prototype was built using additive manufacturing of polypropylene. The requirements for such a design are discussed. Based on the ball wheel drive presented in this article, a design for an omnidirectional mobile robot platform driven by three redundant ball wheel units is proposed. The velocity kinematic model of this mobile base is also addressed.
KW - ball drive
KW - free-wheel
KW - holonomicity
KW - mobile platform
KW - redundancy
UR - http://www.scopus.com/inward/record.url?scp=84911960338&partnerID=8YFLogxK
U2 - 10.1109/mesa.2014.6935568
DO - 10.1109/mesa.2014.6935568
M3 - Conference contribution
AN - SCOPUS:84911960338
BT - MESA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2014
Y2 - 10 September 2014 through 12 September 2014
ER -