Timing belt gearbox in Ballbot robot

@article{Akbari2013TimingBG,
  title={Timing belt gearbox in Ballbot robot},
  author={Mahmoud Akbari and Hosein Zabihi Kheibari and Atefe Sadat Moosavi Nejad},
  journal={2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)},
  year={2013},
  pages={431-436}
}
Ballbot is one of the dynamically stable robots that is much more complex than statically stable robots. This robot is able to keep balance on the ball with very precise control mechanisms. Very accurate and smooth motion without motor backlash is important to stabilize this robot. If you use the gearbox motor, due to backlash in the gearbox gears, we will have errors in calculating the exact position of the wheels and also make robot oscillation on the ball that will cause robot instability… CONTINUE READING

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