Kenji Kimura¹, Koki Ogata², Hiroyasu Hirai³, Takumi Ueda³, Kazuo Ishii^3
1Department of Control Engineering, National Institute of Technology, Matsue College, 14-4 Nishi-ikuma-cho, Matsue-shi, Shimane,690-8518, Japan
²DENSO, 2-1, Nagane, Sato-cho, Anjo-shi, 446-8511, Aichi, Japan
³Graduate School of Life Science and Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu-shi 808-0196, Fukuoka, Japan
pp. 25–32
ABSTRACT
Compared to mobile robots equipped with multiple rollers, spherical robots can move in all directions and are superior in durability and in their ability to climb steps. Slippage between balls and rollers is a significant problem in friction drives. However, previously established roller-driven ball kinematics model considers sliding on only two constraining rollers. In this research, we developed it, proposed a motion model of sphere with three-constraint rollers, and developed a mathematical model that simulates the angular velocity vector of the sphere and the slip vector at each contact point. And we considered the existence of an angular velocity vector of sphere adapted three constraint rollers from the viewpoint of forward kinematics and succeed demonstration of the trajectory of the endpoint of the angular velocity vector and slip velocity vector of sphere.

ARTICLE INFO
Article History
Received 24 November 2022
Accepted 17 August 2023

Keywords
Angular velocity vector of the sphere
Motion analysis of the sphere
Slip velocity vector of the sphere


JRNAL10104

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