Journal of Robotics, Networking and Artificial Life

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Volume 6, Issue 3, December 2019, Pages 167 - 170

Spherical Mobile Robot Driven by Single Omni Wheel

Authors
Liu Wei*, Wang Runjiao, Duan Lunqin, Wang Yanyan, Wang Jiwu
Mechanical Engineering Department, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
*Corresponding author. Email: liuw@bjtu.edu.cn
Corresponding Author
Liu Wei
Received 27 October 2018, Accepted 31 December 2018, Available Online 10 December 2019.
DOI
10.2991/jrnal.k.191202.003How to use a DOI?
Keywords
Spherical mobile robot; omni wheel; arc track; eccentric gravitational moment
Abstract

This paper presents a new spherical mobile robot driven by single omni wheel. The physical model is that an arc track is built inside the sphere shell and can rotate around a spherical diameter freely. It supports one driving omni wheel and keeps the driving omni wheel touching the inside of the sphere shell. The touching friction force can drive the sphere rolling forward or backward. Steering drive can move the omni wheel running along the arc track, that leads the spherical mobile robot turning left or right. The omni wheel can run sphere shell in straight way and turn its direction freely at same time. The mechanism of the spherical mobile robot is described in detail, and its motion and dynamics coordinate systems are built to analysis. The preliminary analysis shows that the robot has a variety of good motion capabilities, such as obstacle crossing, jumping, small radius steering etc.

Copyright
© 2019 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
6 - 3
Pages
167 - 170
Publication Date
2019/12/10
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.k.191202.003How to use a DOI?
Copyright
© 2019 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Liu Wei
AU  - Wang Runjiao
AU  - Duan Lunqin
AU  - Wang Yanyan
AU  - Wang Jiwu
PY  - 2019
DA  - 2019/12/10
TI  - Spherical Mobile Robot Driven by Single Omni Wheel
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 167
EP  - 170
VL  - 6
IS  - 3
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.191202.003
DO  - 10.2991/jrnal.k.191202.003
ID  - Wei2019
ER  -