Abstract
Rolling robots with omnidirectional wheels (ODW), and hence, three degrees of freedom, are the subject of this paper. We focus on one kind of ODW, namely, those consisting of a hub with rollers on its periphery, but the main ideas discussed here are readily portable to other kinds. The full mobility of these robots is due to the free rollers. The choice of the orientation of the roller axes with respect to the hub axis, along with the hub orientations with respect to the platform, the number of wheels etc., playing an important role in the operation of the robot, are design issues considered here. A design criterion based on the isotropy of the underlying Jacobian matrices is reported in this paper. Various designs are produced that meet this criterion.
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