Design and Modeling of a Ball Wheel Omni-directional Mobile Robot

Author

Ghariblu, H.

Author_Institution

Dept. of Mech. Eng., Zanjan Univ., Zanjan, Iran

Volume

2

fYear

2010

fDate

19-21 March 2010

Firstpage

571

Lastpage

575

Abstract

A new driving mechanism is introduced for an omni-directional mobile robot with three ball wheels. This driving system overcomes to troubles arise from using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and, limited load capacity. The kinematics of the propulsion system with focus in the relation between wheels angular speeds and robot velocity is described. Then, the kinetic behavior equivalent to the kinematic description is developed. At last, using two different trajectories the overall motion of the system and torques applied to the actuators are simulated.

Keywords

angular velocity control; mobile robots; propulsion; robot kinematics; wheels; ball wheel omni directional mobile robot; driving mechanism; limited load capacity; propulsion system kinematics; robot velocity; wheels angular speeds; Application software; Computer applications; Design engineering; Equations; Kinematics; Mobile robots; Traction motors; Vehicles; Vibrations; Wheels; ball wheel; mobile robot; omnidirection;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Engineering and Applications (ICCEA), 2010 Second International Conference on

Conference_Location

Bali Island

Print_ISBN

978-1-4244-6079-3

Electronic_ISBN

978-1-4244-6080-9

Type

conf

DOI

10.1109/ICCEA.2010.260

Filename

5445712