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Conceptual Design and Analysis of Spherical Mobile Robots With an Omni-Wheel Based Internal Driving Unit

[+] Author Affiliations
Xianwen Kong, Ross Doak

Heriot-Watt University, Edinburgh, UK

Paper No. DETC2011-48857, pp. 665-669; 5 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


Spherical mobile robots belong to a class of mobile robots which may have applications ranging from exploration to entertainment. This paper presents our preliminary kinematic study of spherical mobile robots which are driven by an omni-wheel based internal driving unit (IDU). At first, we discuss the conceptual design of spherical mobile robots with an omni-wheel based IDU. Several IDUs are proposed. Then we derive the velocity equation of a spherical mobile robot with an omni-wheel based IDU. Finally, two isotropic configurations of spherical mobile robots with an omni-wheel based IDU are identified. This work lays the foundation for the further investigation on spherical mobile robots with an omni-wheel based IDU.

Copyright © 2011 by ASME



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