Hostname: page-component-848d4c4894-75dct Total loading time: 0 Render date: 2024-06-03T01:27:00.929Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamics and vibration analysis of the interface between a non-rigid sphere and omnidirectional wheel actuators

Published online by Cambridge University Press:  01 May 2014

A. Weiss ,
R. G. Langlois  and
M. J. D. Hayes
A. Weiss*
Affiliation:
Department of Mechanical Engineering, Braude Academic College, 51 Snunit St., Karmiel, Israel
R. G. Langlois
Affiliation:
Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canada
M. J. D. Hayes
Affiliation:
Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canada
*
*Corresponding author. E-mail: avi@braude.ac.il
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents analysis of the dynamics and vibration of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The purpose of the analysis is to serve as a design tool for the construction of a six-degree-of-freedom motion platform with unlimited rotational motion. The equations of motion are presented taking flexibility of the system into account. The behaviour of the system is illustrated by sample configurations with a range of omnidirectional wheel types and geometries. Vibration analysis follows, and sensitivity to various parameters is investigated. It is determined that the geometry of omnidirectional wheels has a significant effect on the behaviour of the system.

Keywords

Parallel manipulatorsRobot dynamicsMotion platformRotational motionOrientation controlOmnidirectional wheels
Type
Articles
Information
Robotica , Volume 33 , Issue 9 , November 2015 , pp. 1850 - 1868
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Gough, V. E., “Discussion in London: Automobile Stability, Control and Tyre Performance,” Proceedings of the Automotive Division of the Institution of Mechanical Engineers (1956) pp. 392–394.Google Scholar
2. Stewart, D., “A Platform with 6 Degrees of Freedom,” Proc. Inst. Mech. Eng. 180(15, Pt. 1), 371–386 (1965).Google Scholar
3. Kim, J., Hwang, J. C., Jim, J. S., Iurascu, C. C., Park, F. C. and Cho, Y. M., “Eclipse II: A new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions,” IEEE Trans. Robot. Autom. 18 (3), 367–373 (Jun. 2002).Google Scholar
4. Bles, W. and Groen, E., “The DESDEMONA motion facility: Applications for space research,” Microgravity Sci. Technol. 21 (4), 281–286 (Nov. 2009).Google Scholar
5. Chirikjian, G. S. and Stein, D., “Kinematic design and commutation of a spherical stepper motor,” IEEE/ASME Trans. Mechatronics 4 (4), 342–353 (Dec. 1999).Google Scholar
6. Lauwers, T. B., Kantor, G. A. and Hollis, R. L., “One is Enough!,” Proceedings of 2005 International Symposium of Robotics Research, San Francisco, CA, USA (Oct. 12–15, 2005).Google Scholar
7. Ferriere, L. and Raucent, B., “ROLLMOBS, a New Universal Wheel Concept,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium (May 16–20, 1998) pp. 1877–1882.Google Scholar
8. West, M. and Asada, H., “Design and Control of Ball Wheel Omnidirectional Vehicles,” Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan (May 21–27, 1995) pp. 1931–1938.Google Scholar
9. Williams, R., Carter, D., Gallina, P. and Rosati, G., “Dynamics model with slip for wheeled omni-directional robots,” IEEE Trans. Robot. Autom. 18 (3), 285–293 (2002).Google Scholar
10. Saha, K., Angeles, J. and Darcovich, J., “The design of kinematically isotropic rolling robots with omnidirectional wheels,” Mech. Mach. Theory 30 (8), 1127–1137 (1995).Google Scholar
11. Hayes, M. J. D. and Langlois, R. G., “A novel kinematic architecture for six DOF motion platforms,” Trans. Can. Soc. Mech. Eng. 29 (4), 701–709 (May 2005).Google Scholar
12. Weiss, A., Langlois, R. G. and Hayes, M. J. D., “Unified treatment of the kinematic interface between a sphere and omnidirectional wheel actuators,” ASME J. Mech. Robot. 3 (4), 041001 (Sep. 26, 2011).Google Scholar
13. Hertz, H., “On the contact of elastic solids,” J. Reine und Angewandte Mathematik 92, 156–171 (1882).Google Scholar
14. Johnson, K. L., Contact Mechanics (Cambridge University Press, New York, NY, 1985).Google Scholar
15. Hayes, M. J. D., Langlois, R. G. and Weiss, A., “Atlas motion platform generalized kinematic model,” Meccanica 46 (1), 17–25 (Jan. 2011).Google Scholar
16. Leow, Y. P., Low, K. H. and Loh, W. K, “Kinematic Modelling and Analysis of Mobile Robots with Omni-Directional Wheels,” Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision (ICARCV 2002), Singapore (Dec. 2–5, 2002) pp. 820–825.Google Scholar
17. Song, J. B. and Byun, K. S., “Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels,” J. Robot. Syst. 21 (4), 193–208 (Apr. 2004).Google Scholar
18. Dickerson, S. L. and Lapin, B. D., “Control of an Omni-Directional Robotic Vehicle with Mecanum Wheels,” Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Atlanta, GA, USA (Mar. 26–27, 1991) pp. 323–328.Google Scholar
19. Agullo, J., Cardona, S. and Vivancos, J., “Dynamics of vehicle with directionally sliding wheels,” Mech. Mach. Theory 24 (1), 53–60 (1989).Google Scholar
20. Shugen, M., Chao, R. and Changlong, Y., “An Omnidirectional Mobile Robot: Concept and Analysis,” Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2012) pp. 920–925.Google Scholar
21. Weiss, A., Langlois, R. G. and Hayes, M. J. D., “The effects of dual-row omnidirectional wheels on the kinematics of the atlas spherical motion platform,” J. Mech. Mach. Theory 44 (2), 349–358 (Feb. 2009).Google Scholar