BALL-BALANCING ROBOT AND DRIVE ASSEMBLY THEREFOR

A ball-balancing drive assembly includes a ball having a ball surface and a reference axis extending through a centroid of the ball. Three omniwheel assemblies, each having a motor with a motor axle and an omniwheel configured to rotate around the motor axle are mounted on a chassis configured for s...

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Bibliographische Detailangaben
Hauptverfasser:	YANG Daniel, FRIESEN Jeffrey M, SIHITE Eric, BEWLEY Thomas R
Format:	Patent
Sprache:	eng
Schlagworte:	ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES AUXILIARY DRIVES FOR VEHICLES AXLES FOR WHEELS OR CASTORS CASTORS CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS INCREASING WHEEL ADHESION INSTRUMENTATION OR DASHBOARDS FOR VEHICLES MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING VEHICLE WHEELS VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	A ball-balancing drive assembly includes a ball having a ball surface and a reference axis extending through a centroid of the ball. Three omniwheel assemblies, each having a motor with a motor axle and an omniwheel configured to rotate around the motor axle are mounted on a chassis configured for supporting the three omniwheel assemblies at radially symmetric spacings with the motor axles oriented at an angle relative to the reference axis and the omniwheels oriented in mutually-orthogonal planes. Each omniwheel frictionally contacts the ball surface to convert rotational motion of the motor axle to torque on the ball.