User talk:Nvsalvi

Concept:

The motivation for this concept is Achieving increased mobility to reduce efforts. A passive wheel which get driven by motorized shaft is a cylinder. It's motion is restricted about the shaft axis. Consider a shaft-less wheel which is driven by a motor from inside it. Now the wheel motion is not restricted with shaft and it can spin along two perpendicular axes. Two to drive a cylinder one set of motor(s) is used. If another set of motor(s) is mounted along the (non-existing) shaft axis and a cylindrical wheel is replaced by a ball, A spherical wheel can be implemented to obtain higher mobility.

In other words, it will be a ball, which shall spin about it's center and it's motion can be controlled by controlling the motors within.

Applications:

1.If one has an actively driven sphere, it may form a ball in a ball-and-socket formation. This active sphere driven formation can be used for implementation of shoulder joint in a robot arm, replacing 3 degrees of freedom.

2.Also if used in multiple wheel drive automobile, it can be to obtain hight mobility in vehicles. eg. Imagine the reduction in efforts for parallel parking.

Implementation:

1.Use of DC motors with friction drive method. (Adapted from mouse roller) 2.Electromagnetic induction (using current Coils against permanent magnet surface to form driving torque)

The final outcome for the project is desired to be a Ball that will roll along the floor at a moderate velocity of 1 m/s and it's path on floor can be controlled by automatic means. The electromechanical system will be powered from within using a DC battery (~24V).