This paper presents an omnidirectional drive system with instantaneous omnidirectionality and kinematic isotropy, the Hemispherical Singularity Drive (HSD). By driving a hemispherical wheel mounted on a pointing mechanism, a thrust vector can be generated with arbitrary direction and magnitude. The direction of this thrust is determined by the pointing mechanism’s heading and the magnitude is a function of wheel speed and effective wheel radius, which is in turn dictated by the degree of wheel tilt. At “neutral” position, the wheel operates at its singularity point, producing no thrust regardless of wheel speed. This paper presents the design, kinematics, and an approach to the inverse kinematics of a single module. An omnidirectional robot can have one or more of these modules, effecting increased degrees of mobility, and the governing equations for control of a robot with three or more modules are presented.

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