An omnidirectional vehicle on a basketball
An omnidirectional vehicle on a basketball
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DOI：
10.1109/icar.2005.1507466
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发表时间：
2005-07
期刊：
影响因子：
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通讯作者：
T. Endo;Y. Nakamura
中科院分区：
文献类型：
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作者：
T. Endo;Y. Nakamura
本文是关于球形轮胎全向车辆的开发。车辆通过滚动球形轮胎并在其上保持平衡来移动。我们选择篮球作为球形轮胎，因为篮球是由橡胶制成的。一般来说，橡胶轮胎具有耐用性、地面适应性和传力性三大特点。我们认为用篮球作为球形轮胎成本低且有优势。接下来，我们描述如何计算电机产生的用于滚动篮球的扭矩和角速度。它们是驱动电机和动态模拟所必需的。最后，我们提出了一个操作车辆的界面。乘坐车辆的人可以通过改变重心向各个方向移动。六轴力扭矩传感器感测重量变化
This paper is about development of an omni directional vehicle on a spherical tire. The vehicle moves by rolling a spherical tire and balancing on it. We selected a basketball as a spherical tire, because basketball is made of rubber. In general, rubber tire has three features, which are durability, adaptabilities to the ground surface and force transmissivity. We think that using a basketball as a spherical tire is low-cost and advantageous. Next, we describe how to calculate torque and angular velocity, which motors generate to roll a basketball. They are needed for driving motors and dynamic simulations. Finally, we propose an interface to operate the vehicle. One, who rides on the vehicle, can move to all directions by shifting one's center of mass. A six-axis force-torque sensor senses weight shift