Mechanical design of "Omni-Ball": Spherical wheel for holonomic omnidirectional motion

Kenjiro Tadakuma, Riichiro Tadakuma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. "Omni-Ball" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.

Original languageEnglish
Title of host publicationProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Pages788-794
Number of pages7
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 - Scottsdale, AZ, United States
Duration: 2007 Sep 222007 Sep 25

Publication series

NameProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Other

Other3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
CountryUnited States
CityScottsdale, AZ
Period07/9/2207/9/25

Keywords

  • Mechanical design
  • Omni-Ball
  • Omni-wheel
  • Omnidirectional mobility
  • Spherical wheel
  • Step-climbing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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