Abstract
In this paper, kinematics analysis and simulation of the ball-roller pair is presented. The authors grope has been developed a special kind of transmission with a dual-ball configuration for transmit drive powers to wheel shaft and steering shaft of an active-caster mechanism (ACROBAT). In the transmission design, two balls are required where one ball is used for combining the two motor powers to rotate the ball in 2D way while another ball is for distributing the combined power to the wheel and steering. The transmission design enables an omnidirectional robot with three active casters to be controlled its 3D motion by three motors with no redundancy.
To reduce the number of friction drive between balls and rollers in the first design, we are now planning to build a new type of ACROBAT with a single ball transmission. For this purpose, we analyze a kinematics of a ball-roller pair mechanism and verify the kinematics and motions of proposed mechanism by simulations.
From the results, it is confirmed that proposed transmission is applicable for ACROBAT mechanism for realizing the non-redundant omnidirectional motions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ishida, S., Shimpuku, N., Ishi, K., Miyamoto, H.: Holonomic omnidirectional vehicle with ball wheel drive mechanism and application to RoboCup soccer middle size league. Jpn Soc. Fuzzy Theory Intell. Inform. 26(3), 669–677 (2014). (in Japanese)
Terashima, K., Kitagawa, H., Miyoshi, T., Urbano, J.: Frequency shape control of omni-directional wheelchair to increase user’s comfort. In: Proceedings of IEEE 2004 International Conference on Robotics and Automation, pp. 3119–3124 (2004)
Honda U3-X. http://www.honda.co.jp/robotics/u3x/
Wada, M., Mori, S.: Holonomic and omnidirectional vehicle with conventional tires. In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 3671–3676 (1996)
West, M., Asada, H.: Design of a holonomic omnidirectional vehicle. In: Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp. 97–103, May 1992
Wada, M., Asada, H.H.: Design and control of a variable footprint mechanism for holonomic and omnidirectional vehicles and its application to wheelchairs. IEEE Trans. Robot. Autom. 15(6), 978–989 (1999)
Kumagai, M., Ochiai, T.: Development of a robot balanced on a ball – application of passive motion to transport. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 4106–4111 (2009)
Wada, M., Inoue, Y., Hirama, T.: A new active-caster drive system with a dual-ball transmission for omnidirectional mobile robots. In: Proceedings of the 2012 IEEE International Conference on Intelligent Robots and Systems, pp. 2525–2532 (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Wada, M., Kato, K. (2016). Kinematic Analysis and Simulation of a Ball-Roller Pair for the Active-Caster Robotic Drive with a Ball Transmission. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-43506-0_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-43505-3
Online ISBN: 978-3-319-43506-0
eBook Packages: Computer ScienceComputer Science (R0)