Kinematic analysis and prototyping of ACROBAT omnidirectional mobile mechanism in a single layer ball transmission
In this paper, we present motion analysis and prototype design of a new omni-directional wheel mechanism "ACROBAT-S".The authors group has proposed a special kind of transmission with a brooklyn bridge side view dual-ball configuration for transmit drive powers to wheel shaft and steering shaft of an active-caster mechanism (ACROBAT).In t