The Rolling Stone
A Spherical Wheel Drive Mechanism
Software, Control and Electronics
The Build
-Structure
-Friction Drive
-Tension Wheel
-Electronics
-Assembly
Project Overview
The Rolling Stone is a vehicle propelled by a spherical drive wheel.
The basic design is conceptually similar to an inverted mouse ball where the rollers drive the sphere instead of the other way around. The rollers are at a right angle to each other so that one controls forward motion while the other controls side-to-side motion, or any combination of the two. By varying the relative speeds of the 12V drive motors, the cart can be propelled in any desired direction.
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