Research Development of Centroid Deviation Type Spherical Robot

Abstract

Background: With the continuous development of science and technology, more and more human work has been replaced by robots because robots can do many jobs that human beings are not competent for. At present, researchers pay more and more attention to a new type of robot, the spherical robot. The most widely used spherical robot is the centroid deviation spherical robot. This paper mainly introduces the driving mode and structure of the spherical robot with centroid deviation. Objective: This paper explores the classification, development, advantages, and disadvantages of the driving modes of the spherical robot with centroid deviation. Methods: This paper reviews various products and patents related to centroid deviation spherical robot. This paper also introduces the structural characteristics, differences, and applications of the existing spherical robots with centroid deviation. Results: This paper compares and analyzes various spherical robots with centroid deviation, and their typical characteristics are summarized. This paper analyzes the main problems existing in various structures of the spherical robot, looks forward to the development trend of spherical robot, and discusses the research status and future of products and patents of the spherical robot. Conclusion: According to different driving modes, the spherical robot with centroid deviation can be divided into single pendulum drive, double pendulum drive, trolley drive, rolling body drive, and multi mass block drive. Among them, single pendulum drive, trolley drive, and rolling element drive are the most studied. At present, the structures of products and patents are similar, and the research direction has shifted from innovation to optimization.