Design and Control of the Ball Wheel Drive Mechanism for a Robust Omnidirectional Wheeled Mobile Platform
This paper discusses design and control of a new ball wheel drive mechanism for a robust omnidirectional wheeled mobile platform. This platform is designed for use in the highway maintenance and construction area, which is a generally an unstructured and congested environment. The proposed ball wheel mechanism can move in all directions on the plane, instantaneously and isotropically. Other novel features include: active regulation of traction drive contact pressure and an optimally controlled reconfigurable drive system.
KeywordsMobile Robot Contact Pressure Mobile Platform Motor Torque Drive Wheel
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