Heavy-duty Spherical Mobile Robot Driven by Five Omni Wheels

Liu, Wei; Sun, Junyang; Wang, Runjiao; Geng, Guanwang; Han, Xiao

doi:10.5954/icarob.2020.os1-3

Cited by 3 publications

(1 citation statement)

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“…A different manner to exploit BO consists of a multi/single wheeled mobile robot, placed inside the spherical shell and usually referred to as Internal Driving Units (IDUs), or Hamster-Balls (HB). HB robots offer compactness and enhanced torque, with recent HB designs featuring omni wheels for omnidirectional motion [12][13][14]. A simpler design based on classic wheels can provide both quasi-omni-directional and omnidirectional movements [15,16].…”

Section: Barycenter Offsetmentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detailed design for such a kind of robot and to discuss the performance that can be reached by adopting this solution. The work hence introduces the requirements assumed for the design of the robot and discloses the general layout that was selected, which includes a pendulum for motion transmission and two coupled gyroscopes to overcome high, steep obstacles, such as steps. The paper then summarizes the functional design computation carried out to size and selects the components of the system. Eventually, a control algorithm is described and tested on a complete multibody model of the robot. The results in the execution of standard maneuvers such as motion on a horizontal plane, as well as in the overcome of a step, are shown. The energetic balance of the rover is described, and some preliminary consideration about mission planning are reported in the final discussion.

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Section: Barycenter Offsetmentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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show abstract

Stability analysis of the food delivery robot with suspension damping structure

Shu-hai

Song²,

Zhou³

et al. 2022

Heliyon

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CMOR motion planning and accuracy control for heavy-duty robots

Zuo,

Wang,

Xia

et al. 2023

Journal of Intelligent Systems

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Factors like rising work costs and the imminent transformation and upgrading of manufacturing industries are driving the rapid development of the industrial robotics market. In this study, by analyzing the structure of the transport arm and China Fusion Engineering Test Reactor and performing mathematical modeling, a feasible solution for the robot can be obtained using the dynamic ant colony optimization algorithm and grayscale values. However, for multiple degree of freedom robots, due to a large number of joints, the pure use of joint angle restrictions cannot avoid their own mutual interference. The design of the transport arm robot’s own collision algorithm is shown, which focuses on each linkage as a rod wrapped by a cylinder. The experiment shows that the relationship between the integrated center of mass and the whole machine center of mass can get the action area of the whole machine center of mass of the robot, according to which the relationship between the radius of the catch circle and time of the projection area of the whole machine center of mass of the robot in the horizontal plane can be obtained. The maximum outer circle radius r com = 267.977 mm {r}_{\text{com}}=267.977\hspace{.25em}\text{mm} , according to the stability criterion r ssa > r con {r}_{\text{ssa}}\gt {r}_{\text{con}} , can be obtained, so the stability analysis of the gait switching process can be judged to be correct and effective.

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Heavy-duty Spherical Mobile Robot Driven by Five Omni Wheels

Cited by 3 publications

References 0 publications

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Stability analysis of the food delivery robot with suspension damping structure

CMOR motion planning and accuracy control for heavy-duty robots

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