TY - GEN
T1 - Ball drive configurations and kinematics for holonomic ground mobility
AU - Gebre, Biruk A.
AU - Pochiraju, Kishore
N1 - Publisher Copyright:
Copyright © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - Holonomic motion is desired for mobile ground robots and vehicles as it provides omnidirectional maneuvering capabilities, which can simplify the task of navigating around obstacles in confined spaces and unstructured environments. Mobility platforms that utilize spherical wheels are gaining popularity and interest due to the agile maneuvering and ground traversal capabilities they enable for mobility platforms. Ball-driven mobility platforms have a rich design space as various design parameters are available that can modify the physical and performance characteristics of the platforms. Various configurations for ball-driven mobility platforms are presented along with a generalized kinematic model that can be used for calculating motor velocities for a desired vehicle velocity. A naming convention is also presented in the paper for differentiating between configurations used for ball-driven mobility platforms. Metrics such as platform footprint, platform stability, and actuation force and efficiency are used to compare the configurations and to highlight some of the trade-offs associated with the selection of a configuration. Promising configurations are highlighted based on the metrics selected for the comparisons.
AB - Holonomic motion is desired for mobile ground robots and vehicles as it provides omnidirectional maneuvering capabilities, which can simplify the task of navigating around obstacles in confined spaces and unstructured environments. Mobility platforms that utilize spherical wheels are gaining popularity and interest due to the agile maneuvering and ground traversal capabilities they enable for mobility platforms. Ball-driven mobility platforms have a rich design space as various design parameters are available that can modify the physical and performance characteristics of the platforms. Various configurations for ball-driven mobility platforms are presented along with a generalized kinematic model that can be used for calculating motor velocities for a desired vehicle velocity. A naming convention is also presented in the paper for differentiating between configurations used for ball-driven mobility platforms. Metrics such as platform footprint, platform stability, and actuation force and efficiency are used to compare the configurations and to highlight some of the trade-offs associated with the selection of a configuration. Promising configurations are highlighted based on the metrics selected for the comparisons.
UR - http://www.scopus.com/inward/record.url?scp=85040909345&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85040909345&partnerID=8YFLogxK
U2 - 10.1115/IMECE2017-71861
DO - 10.1115/IMECE2017-71861
M3 - Conference contribution
AN - SCOPUS:85040909345
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Emerging Technologies; Materials
T2 - ASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017
Y2 - 3 November 2017 through 9 November 2017
ER -