Conceitos Básicos
Enhancing step-climbing and reducing vibrations with the Passive Transformable Omni-Ball design.
Resumo
The content introduces the Passive Transformable Omni-Ball (PTOB), focusing on its structure modifications to improve in-wheel actuation, reduce vibrational feedback, and enhance step-climbing abilities. The PTOB prototype demonstrated functionality for omnidirectional movement and internal actuation, outperforming traditional omni-wheels. Extensive testing confirmed its capability to handle step obstacles up to 45 mm in varied settings. The design addresses challenges faced by existing omni-ball designs, emphasizing strength, integration of actuators, and reduction in size and weight.
I. INTRODUCTION
- Omnidirectional mobility mechanisms' efficiency without changing direction.
- Challenges with existing omnidirectional wheels requiring two actuators.
II. DESIGN OF PASSIVE TRANSFORMABLE OMNI-BALL
- Introduction of a three-segment structure for improved actuation and reduced vibrations.
- In-wheel actuator configuration enhancing structural coherence.
III. OMNIDIRECTIONAL WHEEL CHASSIS
- Chassis structure enabling contact with the ground on uneven terrain.
- Wheel support designed to minimize interference with surroundings.
IV. EXPERIMENTS
- Vibration measurement test showing low vibration levels during various movements.
- Step-climbing test demonstrating equivalent performance to conventional omni-ball designs.
- Various terrain tests showcasing successful gap crossing, elevator navigation, cable traversal, and uneven terrain traversal.
V. CONCLUSION AND FUTURE WORK
- Proposal of unique wheel structure addressing challenges faced by existing designs.
- Future evaluation on wheel-based robots planned for further utility assessment.
Estatísticas
The PTOB showcased robust construction - "The PTOB showcased robust construction."
Compared to a traditional omni-wheel - "Compared to a traditional omni-wheel."
Extensive testing showed the PTOB can handle step obstacles up to 45 mm - "Extensive testing showed the PTOB can handle step obstacles up to 45 mm."