Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-31-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-31-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
07 Feb 2022
Research article |  | 07 Feb 2022

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

Luis Daniel Filomeno Amador and Eduardo Castillo Castañeda

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Short summary
In mobile robot development, the designer focuses on the novelty of the final element, leaving out the mobile platform evolution; the chief problem with wheeled mobile robots is the restricted movement in the workspace due to the necessity for the system's reorientation. Our goal is to realize a wheeled mobile robotic system that can generate an omnidirectional displacement without the need to redirect the wheels, thus guaranteeing continuous operation.
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