Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual contact between the wheel and the floor, compared to mobile robots using Mecanum wheels and more than one active wheel; due to the design concept, all the mathematical formulations, kinematics and dynamics presents how the models are validated with computer simulations.