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An Omnidirectional, Direct Singularity Drive System and its Inverse Kinematic Model

[+] Author Affiliations
Julie A. Reyer, Matthew T. West, Praveen K. Jonnavittula, Christopher T. Costello

Bradley University, Peoria, IL

Curtis Boirum

Carnegie Mellon University, Pittsburgh, PA

Paper No. DETC2014-35061, pp. V05AT08A094; 7 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This paper presents an omnidirectional drive system. The design presented here involves a spinning hemispherical wheel mounted on a gimbal. The wheel operates at its singularity point when in the “neutral” or static position. As the gimbal is tilted, the wheel provides a thrust vector to the vehicle. The tilt determines the effective radius of the wheel, which in turn determines the amount of power that can be transmitted for motion. The paper presents the design and kinematic and inverse kinematics analysis of a singularity drive mechanism.

Vehicles can have single or multiple singularity drive mechanisms to achieve increasing levels of maneuverability. From a control standpoint, each singularity drive is kinematically decoupled from other drives on the same vehicle. Vehicles with one, two and three singularity drive mechanisms are introduced and some experimental results are presented.

Copyright © 2014 by ASME
Topics: Kinematics



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