A novel three-wheel tennis pitching device for tennis training robots is designed, which features pitching tennis balls with various self-spins. The device is composed of aluminous hubs, rubber tyres, and high-speed brushless motors. Besides, a ball-spin control method is implemented to pitch balls with target self-spins, which is based on the combined effects of three pitching wheels rotating ...
https://link.springer.com/article/10.1007/s10846-023-01805-6