A prototype of an omnidirectional spherical wheel using omni-chain
The vehicle/robot using two, three or four spherical wheels feature full Omni-directionality with simultaneous rotational and translational motion capabilities.
Using an omni-chain tangent to the sphere having multiple contact points, provides continuous contact between rollers mounted on chain and spherical surface causing improved power transmission and smoothness of motion. While an omni-wheel having a single contact point with spherical wheel and gaps between passive rollers shows high losses from friction and discontinuity of motion while going from one roller to next one.
Omni-chain in contact with spherical wheel transmits a power torque according to a direction and the wheel is free with respect to two other directions.
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