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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: [email protected]
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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 

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