MAGNETIC SPHERICAL BALANCING ROBOT DRIVE
First Claim
1. A magnetic holonomic drive system, comprising:
- a substantially spherical body having a surface portion;
a holonomic drive having at least one multidirectional wheel contacting said surface portion of said substantially spherical body; and
a holding magnet assembly on said holonomic drive and operative to urge said at least one multidirectional wheel against said surface portion of said substantially spherical body, wherein said substantially spherical body is controlled in response to rotation of said at least one multidirectional wheel.
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Accused Products
Abstract
A drive system is presented for controlling rotation of a sphere. The system facilitates holonomic motion of a drive with respect to a sphere such that a holonomic drive or drives may be maintained at a relative position with respect to a sphere. The motion of a sphere may be controlled by controlling the position of a drive with respect to the sphere. The drive may be controlled by way of a controller. A holonomic drive may be urged against a sphere by way magnetic interaction of the holonomic drive and a second structure. Also, a support structure is facilitated that allows a sphere to pass through a support column without breaks or interruptions in the sphere.
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Citations
20 Claims
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1. A magnetic holonomic drive system, comprising:
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a substantially spherical body having a surface portion; a holonomic drive having at least one multidirectional wheel contacting said surface portion of said substantially spherical body; and a holding magnet assembly on said holonomic drive and operative to urge said at least one multidirectional wheel against said surface portion of said substantially spherical body, wherein said substantially spherical body is controlled in response to rotation of said at least one multidirectional wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle capable of holonomic motion over a surface, the vehicle comprising:
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a substantially spherical body defining an interior volume and having a sidewall with an interior surface and an exterior surface; a locomotive drive within said interior volume and supported on said surface and engageable with said interior surface to produce rotation of said substantially spherical body such that said substantially spherical body moves with respect to said surface; a support beam attached to said locomotive drive and extending away from said locomotive drive; an interior support operatively connected to an end portion of said support beam opposite said locomotive drive, said interior support contacting said interior surface and said interior support including a first magnetic holding portion; and an exterior support contacting said exterior surface of the substantially spherical body and on an opposite side of said sidewall as said interior support, said exterior support having a second magnetic holding portion in magnetic interaction with said first magnetic holding portion to produce an urging force relative to said interior and exterior supports. - View Dependent Claims (14, 15, 16, 20)
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17. A method for controlling a robotic system, the method comprising:
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sensing a position of a holonomic drive in contact with a sphere; determining a correction command necessary to affect a desired change in position of said holonomic drive; generating a control signal comprising information about said correction command; rotating at least one multidirectional wheel in contact with said sphere to affect movement of said holonomic drive with respect to said sphere corresponding to said correction command. - View Dependent Claims (18, 19)
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Specification