کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802371 904382 2009 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The effects of dual row omnidirectional wheels on the kinematics of the Atlas spherical motion platform
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
The effects of dual row omnidirectional wheels on the kinematics of the Atlas spherical motion platform
چکیده انگلیسی

A general modification to the kinematics model of the Atlas spherical orientation platform is presented. The Jacobian is augmented to include the effects of dual row omnidirectional wheels (i.e., two offset races of free spinning rollers). The results indicate that ignoring the offset between races can result in a significant error in the evaluation of the sphere angular velocity vector in response to a prescribed set of omnidirectional wheel velocities. The methodology presented in this paper is general and can be applied to the analysis of other mechanical systems employing dual row omnidirectional wheels.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 44, Issue 2, February 2009, Pages 349–358
نویسندگان
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