|
Re: Physics of a Ballbot
I thought about a BB-8 for a good bit after the movie. I never actually did anything with it outside of mental modeling, but I seem to recall that my last design involved three mutually perpendicular omni wheels, all "above the equator" of the ball. If you get a regular die (chance cube), and imagine one wheel centered on the 1 face, oriented towards the 2 face, another centered on the 2 face oriented towards the 3 face, and the third centered on the 3 face, oriented towards the 1 face, then all rotated so that the corner common to the 1, 2, and 3 faces points up, you should get the idea.
Accelerometers in three mutually perpendicular dimensions are obviously essential. My thinking was that I would orient them with the same axes as the wheels, but I did not think it through very far before moving on to something else.
__________________
If you can't find time to do it right, how are you going to find time to do it over?
If you don't pass it on, it never happened.
Robots are great, but inspiration is the reason we're here.
Friends don't let friends use master links.
|