Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction

Centrala begrepp

Enhancing step-climbing and reducing vibrations with the Passive Transformable Omni-Ball design.

Sammanfattning

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.

Statistik

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."

Citat

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Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction

by Kazuo Hongo,... på arxiv.org 03-22-2024

https://arxiv.org/pdf/2403.14160.pdf

Djupare frågor

How can the integration of actuators into wheels impact mobile platform design flexibility?

The integration of actuators into wheels can significantly impact mobile platform design flexibility by reducing the overall size, weight, and complexity of the system. By incorporating actuators directly into the wheels, there is a streamlined approach to power transmission and control, eliminating the need for external components that would otherwise take up space and add weight. This integration allows for more compact designs, enabling robots or vehicles to navigate through narrow spaces with ease. Additionally, having in-wheel actuators enhances maneuverability and agility since each wheel can be controlled independently for omnidirectional movement without requiring additional mechanisms.

What are the potential drawbacks or limitations of reducing the number of bearings in omnidirectional wheels?

While reducing the number of bearings in omnidirectional wheels can lead to benefits such as increased strength and structural integrity due to larger bearing sizes being utilized, there are also potential drawbacks and limitations associated with this approach. One significant limitation is that fewer bearings may result in decreased stability and smoothness during motion. With fewer contact points between the wheel structure and its support system, there could be an increase in frictional resistance or uneven wear on remaining bearings leading to premature failure.
Another drawback is related to load distribution across a reduced number of bearings which may result in higher stress concentrations at specific points within the wheel mechanism. This uneven loading could potentially lead to mechanical failures over time if not properly addressed through careful engineering considerations.
Furthermore, a reduction in bearing count might limit redundancy within the system, making it more susceptible to operational issues if one bearing were to fail unexpectedly. This lack of redundancy could compromise overall reliability unless robust maintenance protocols are implemented.

How might advancements in leg-wheel robot development influence future wheel-based robotics?

Advancements in leg-wheel robot development have significant implications for future wheel-based robotics by inspiring innovative designs that combine both wheeled mobility with legged capabilities. The incorporation of legs alongside traditional wheels offers enhanced versatility when navigating complex terrains or environments where conventional wheeled robots may face challenges.
Leg-wheel robots provide improved adaptability over rough terrain by allowing dynamic adjustments based on obstacles encountered during traversal. These advancements open up possibilities for hybrid locomotion systems that blend efficient wheeled movement with agile legged locomotion strategies like climbing stairs or stepping over obstacles seamlessly.
Moreover, developments in leg-wheel robots contribute towards enhancing overall stability and traction control by leveraging both modes of locomotion effectively depending on environmental conditions encountered during operation. Future wheel-based robotics stand to benefit from these advancements by integrating elements inspired by legged robotic platforms to achieve superior performance across diverse scenarios while maintaining efficiency inherent to wheeled systems.