Development of a holonomic omnidirectional vehicle driven by a spherical motor and proposal of a spherical deceleration driving method

Wanli Shan, Akio Gofuku, Tetsushi Kamegawa, Mitsunobu Shibata

Research output: Contribution to journalArticle

3 Citations (Scopus)


This paper presents a prototype of holonomic omnidirectional moving vehicle driven by a spherical motor that rotates in all directions. This paper also proposes a method called spherical deceleration driving method that can increase the driving torque by tilting the rotation axis of the spherical motor. Experimental results to evaluate the moving performance of the prototype vehicle by the spherical deceleration driving method show that the measured driving forces are almost coincident with the theoretical values within the range that the driving torque of the spherical motor does not exceed the maximum static frictional force between the motor surface and floor. In addition, the driving force can be increased up to about twice the value at the inclination angle of 0 °. On the other hand, the measured moving speeds are well agreed with the theoretical speeds if the slip between the surface of the rotor of sperical motor and road surface does not exist.

Original languageEnglish
Pages (from-to)4630-4640
Number of pages11
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number784
Publication statusPublished - 2011
Externally publishedYes



  • Holonomic system
  • Mobile robot
  • Omnidirectional vehicle
  • Spherical deceleration driving method
  • Spherical motor

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

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