A Novel Omnidirectional Wheel Based on Reuleaux-Triangles

Brunhorn, Jochen; Tenchio, Oliver; Rojas, Raúl

doi:10.1007/978-3-540-74024-7_53

Cited by 3 publications

(1 citation statement)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It should be stressed that all the points around the center of the surface are equally probable, thus leading to an isodiametric "circular shape" 49 similar to the simplest and best known Releaux polygon. [49][50][51][52][53][54] When the number of chains increases to four, the arrangement occurs preferentially at the corners of a square around the central part of the surface where the attractive potential is higher. Again, the chains avoid the periphery of the surface.…”

Section: Chain Deposition Favors Specific Regions Of the Surfacementioning

confidence: 99%

A new perspective on correlated polyelectrolyte adsorption: Positioning, conformation, and patterns

Nunes

Cova

Pais

2013

The Journal of Chemical Physics

View full text Add to dashboard Cite

This work focuses on multiple chain deposition, using a coarse-grained model. The phenomenon is assessed from a novel perspective which emphasizes the conformation and relative arrangement of the deposited chains. Variations in chain number and length are considered, and the surface charge in the different systems ranges from partially neutralized to reversed by backbone deposition. New tools are proposed for the analysis of these systems, in which focus is given to configuration-wise approaches that allow the interpretation of correlated multi-chain behavior. It is seen that adsorption occurs, with a minimal effect upon the bulk conformation, even when overcharging occurs. Also, chain ends create a lower electrostatic potential, which makes them both the least adsorbed region of the backbone, and the prevalent site of closer proximity with other chains. Additionally, adsorption into the most favorable region of the surface overrides, to a large degree, interchain repulsion.

show abstract

Section: Chain Deposition Favors Specific Regions Of the Surfacementioning

confidence: 99%

A new perspective on correlated polyelectrolyte adsorption: Positioning, conformation, and patterns

Nunes

Cova

Pais

2013

The Journal of Chemical Physics

View full text Add to dashboard Cite

show abstract

Novel omnidirectional mobile robot with slidable base

XU,

TERAKAWA,

OHYAMA

et al. 2024

JAMDSM

View full text Add to dashboard Cite

Designing and tuning a brake assistant for omnidirectional wheels

Kálmán

Vajta²

2012

Per. Pol. Elec. Eng.

View full text Add to dashboard Cite

Although the invention of the special wheels that move omnidirectional vehicles dates back to the seventies, advances in mechatronics, and control technology keep them constantly on the drawing table of engineers working with mobile robots. The need for eliminating human error becomes ever so obvious when human operators are managing expensive and/or powerful machinery, as the cost of failure can be very high. Omnidirectional platforms are not immune to human error either, however due to their unique working principle they require customized methods. This article presents a trajectory controller for omnidirectional transport robots that is able to correct their trajectory during braking even when high disturbances are present. A method for tuning the controller to achieve a desired behavior is presented. The results are demonstrated by simulation, in Modelica-Dymola environment.

show abstract

A Novel Omnidirectional Wheel Based on Reuleaux-Triangles

Cited by 3 publications

References 1 publication

A new perspective on correlated polyelectrolyte adsorption: Positioning, conformation, and patterns

A new perspective on correlated polyelectrolyte adsorption: Positioning, conformation, and patterns

Novel omnidirectional mobile robot with slidable base

Designing and tuning a brake assistant for omnidirectional wheels

Contact Info

Product

Resources

About