Design and Modeling of a Ball Wheel Mobile Robot

摘要：

A new generation for an omni-directional ball wheel mobile robot with unique driving mechanism is introduced.This driving system overcomes to problems arise using traditional omni-wheels such as,vibration,inappropriate to employ in outdoor applications and limited load capacity.Mechanical structure of this robot has several distinctive characteristics in comparison with our previous robot.Modularity of driving system is the most important ability of new robot,beside on appending a suspension system to improve behavior of robot in rough terrains.Due to independent operation of three ball wheel chassis,designed robot has high performance in going over obstacles along its path.

关键词： Ball Wheel Mobile Robot Design

作者: Hashem Ghariblu Ali Moharrami Behnam Ghalamchi

作者单位: Mech.Eng.dept.,Mechatronics Lab.University of Zanjan,Zanjan,Iran

会议类型: 国际会议

会议名称: 2012 2nd International Conference on Advanced Material Research(2012 第二届先进材料研究国际会议 ICAMR2012)

会议地点: 成都

会议语种:英文

页码: 1215-1218

在线出版日期: 2012-01-07（万方平台首次上网日期，不代表论文的发表时间）