Title :
Two-degree-of-freedom spherical actuator for Omnimobile ROBOT
Author :
Dehez, Bruno ; Grenier, Damien ; Raucent, Benoît
Author_Institution :
Center for Res. in Mechatronics, Univ. Catholique de Louvain, Louvain-la-Neuve, Belgium
Abstract :
This paper deals with the design of a two-degree-of-freedom spherical electrical actuator for mobile robotic applications. It presents the different steps involved in this design, namely the choice of the actuation principle, the modelling of the motor (including the electromechanical) the sizing and the manufacture of a first prototype
Keywords :
electric actuators; mobile robots; 2-DOF spherical actuator; Omnimobile ROBOT; electromechanical modelling; mobile robots; motor; Actuators; Design automation; Mechanical energy; Mechatronics; Mobile robots; Power electronics; Power engineering and energy; Prototypes; Virtual manufacturing; Wheels;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013588
