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Three D.O.F in a Single Spherical Joint Realized by Omni-Wheels for Industrial Robots

Mustafa W. Abdullah A. 1, Hubert Roth B. 1, Jürgen Wahrburg C. 1, Kiran Pamanji D. 1, and Michael Weyrich E.2
1. Institute of Automatic Control Engineering, University of Siegen, Siegen, Germany
2. Institute of Automation and Software Engineering, University of Stuttgart, Stuttgart, Germany

Abstract—Development on the design concept using Omni-Wheels to provide three degree-of-freedom (d.o.f) in a single spherical joint is presented in this paper. The purpose of this design is to provide the industrial robots that have limited movement flexibility with additional d.o.f in order to carry tasks that require complicated trajectories. In addition, this compact single joint will be installed as an end-effector, therefore there is no need to modify the structure of the industrial robot or to install additional links. Beside the theory and design concept, a model and prototype are created to study the feasibility of such an approach.

Index Terms—degree-of-freedom, industrial robot, spherical joint

Cite: Mustafa W. Abdullah A., Hubert Roth B., Jürgen Wahrburg C., Kiran Pamanji D., and Michael Weyrich E., "Three D.O.F in a Single Spherical Joint Realized by Omni-Wheels for Industrial Robots," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 1, pp. 23-27, January 2016. DOI: 10.18178/ijmerr.5.1.23-27