Ospheel: Design of an Omnidirectional Spherical-sectioned Wheel
A. A. Hayat,Shi Yuyao,K. Elangovan,M. R. Elara,R. E. Abdulkader,A. A. Hayat,Shi Yuyao,K. Elangovan,M. R. Elara,R. E. Abdulkader
The holonomic and omnidirectional capabilities imparted to the mobile base platform depends mainly on two factors, i.e., the wheel design and its various arrangements in the platform chassis. This paper reports on the development of a novel omnidirectional spherical sectioned wheel named Ospheel. It is modular, and the spherical sectioned geometry of the wheel is driven using two actuators placed ...
