Scholarlink

<p>In recent years, spherical wheels have attracted significant attention for their structural characteristics and are used for step climbing and omnidirectional movement. Although many sphere-driven robots employ friction drive systems and thus face challenges such as traveling on uneven surfaces, roller slippage, and the intrusion of debris between the sphere and the rollers, further improvements in running performance are expected. If a kinematic theory applicable to arbitrary configurations of sphere-based mechanisms is established, their use and applications are expected to expand further. In this paper, we express the general kinematics of mechanisms driven by multiple rollers using forward kinematic equations and discuss their comprehensive relationship with related studies. In addition, we validate the kinematics using a sphere measurement device, assuming various rotational motions of the sphere.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Analysis and classification of general sphere kinematics by driving rollers

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年6月20日

查看全文
  • Kenji Kimura,
  • Shota Chikushi,
  • Kazuo Ishii

摘要

In recent years, spherical wheels have attracted significant attention for their structural characteristics and are used for step climbing and omnidirectional movement. Although many sphere-driven robots employ friction drive systems and thus face challenges such as traveling on uneven surfaces, roller slippage, and the intrusion of debris between the sphere and the rollers, further improvements in running performance are expected. If a kinematic theory applicable to arbitrary configurations of sphere-based mechanisms is established, their use and applications are expected to expand further. In this paper, we express the general kinematics of mechanisms driven by multiple rollers using forward kinematic equations and discuss their comprehensive relationship with related studies. In addition, we validate the kinematics using a sphere measurement device, assuming various rotational motions of the sphere.