OS1-3 Heavy-duty Spherical Mobile Robot Driven by Five Omni Wheels

Title:	OS1-3 Heavy-duty Spherical Mobile Robot Driven by Five Omni Wheels
Publication:	ICAROB2020
Volume:	25
Pages:	720-723
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2020.OS1-3
Author(s):	Wei Liu, Junyang Sun, Runjiao Wang, Guanwang Geng, Xiaolong Han
Publication Date:	January 13, 2020
Keywords:	Spherical mobile robot, Omnidirectional wheel, Omni wheel, Eccentric gravitational moment, Heavyduty spherical mobile robot
Abstract:	This paper presents a heavy-duty spherical mobile robot with 5 omni wheels (omni-directional wheels). The chassis is supported by four drive omni wheels, and they touch the internal spherical shell. One omni wheel arranged at top can prevent the chassis from overturning. Four omni wheels are driven by two motors so that both forward and steering motions can be achieved simultaneously. The four omni wheels can support heavy load comparing to one omni wheel. The mechanism of the robot is described in detail, and its motion and dynamics are built and analyzed. Preliminary multi-body dynamics simulation shows that it has good function and dynamic characteristics etc.
PDF File:	https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS1/OS1-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/