| contributor author | A. Weiss | |
| contributor author | R. G. Langlois | |
| contributor author | M. J. D. Hayes | |
| date accessioned | 2017-05-09T00:45:58Z | |
| date available | 2017-05-09T00:45:58Z | |
| date copyright | November, 2011 | |
| date issued | 2011 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28017#041001_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/147126 | |
| description abstract | This paper presents a general approach to the kinematics of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The number and type of the omnidirectional wheels, as well as their position and orientation relative to the sphere are arbitrary, provided they are distinct. In this paper, the general kinematics are presented and illustrated by sample configurations with a range of omnidirectional wheel types and quantities. Moreover, no-slip conditions are identified, and the resulting expressions and their implications on the design of such a mechanical system are demonstrated by means of several benchmark examples. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Unified Treatment of the Kinematic Interface Between a Sphere and Omnidirectional Wheel Actuators | |
| type | Journal Paper | |
| journal volume | 3 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4004888 | |
| journal fristpage | 41001 | |
| identifier eissn | 1942-4310 | |
| keywords | Wheels AND Kinematics | |
| tree | Journal of Mechanisms and Robotics:;2011:;volume( 003 ):;issue: 004 | |
| contenttype | Fulltext | |