Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866910602313596928 |
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| author | Hongo, Kazuo Kito, Takashi Kamikawa, Yasuhisa Kinoshita, Masaya Kawanami, Yasunori |
| author_facet | Hongo, Kazuo Kito, Takashi Kamikawa, Yasuhisa Kinoshita, Masaya Kawanami, Yasunori |
| contents | This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators, diminish vibrations, and fortify structural integrity. By modifying the omni-ball's structure from two to three segments, we have achieved improved in-wheel actuation and a reduction in vibrational feedback. Additionally, we have implemented a sliding mechanism in the follower wheels to boost the wheel's step-climbing abilities. A prototype with a 127 mm diameter PTOB was constructed, which confirmed its functionality for omnidirectional movement and internal actuation. Compared to a traditional omni-wheel, the PTOB demonstrated a comparable level of vibration while offering superior capabilities. Extensive testing in varied settings showed that the PTOB can adeptly handle step obstacles up to 45 mm, equivalent to 35 $\%$ of the wheel's diameter, in both the forward and lateral directions. The PTOB showcased robust construction and proved to be versatile in navigating through environments with diverse obstacles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_14160 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction Hongo, Kazuo Kito, Takashi Kamikawa, Yasuhisa Kinoshita, Masaya Kawanami, Yasunori Robotics This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators, diminish vibrations, and fortify structural integrity. By modifying the omni-ball's structure from two to three segments, we have achieved improved in-wheel actuation and a reduction in vibrational feedback. Additionally, we have implemented a sliding mechanism in the follower wheels to boost the wheel's step-climbing abilities. A prototype with a 127 mm diameter PTOB was constructed, which confirmed its functionality for omnidirectional movement and internal actuation. Compared to a traditional omni-wheel, the PTOB demonstrated a comparable level of vibration while offering superior capabilities. Extensive testing in varied settings showed that the PTOB can adeptly handle step obstacles up to 45 mm, equivalent to 35 $\%$ of the wheel's diameter, in both the forward and lateral directions. The PTOB showcased robust construction and proved to be versatile in navigating through environments with diverse obstacles. |
| title | Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.14160 |