Abstract
Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.
Highlights
In deep space exploration, large detectors with high functional density and complex structures, such as American Perseverance [1], China Zhurong [2] and so on, are usually used for exploration tasks
The jumping function of the spherical robot is realized by controlling the spring energy storage and releasing by the jumping drive module, as shown in Figure 9. m31 is the mass of the mechanism case, m32 is the mass of the six-bar mechanism, m1 is the mass of the spherical shell, m2 is the mass of the frame, L1 is the length of the spring in the limit energy storage position, L2 is the original length of the spring without stretching, k is the stiffness coefficient of the linear spring
The motion characteristics of the spherical robot are analyzed by establishing the dynamic model
Summary
Large detectors with high functional density and complex structures, such as American Perseverance [1], China Zhurong [2] and so on, are usually used for exploration tasks. Aarne Halme et al first started the research on spherical robot, developed a single-wheel-driven spherical motion machine and established dynamic model [5]. Sung-Su Ahn et al designed a spherical robot with the ability to change the direction of motion at rest, an orthogonal frame was used to achieve all-round ability to drive [11] These spherical robots, driven in different ways, can only achieve a single motion mode such as rolling or jumping, which makes it difficult to cope with the complicated detection environment. The structure of the spherical robot is designed and the motion characteristics are analyzed by establishing the dynamics model On this basis, a spherical robot prototype with compound motion mode is developed, and the motion ability is tested and characterized
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