Abstract
In this paper, our work focused on designing a novel spherical robot driven by omnidirectional wheels and developing an under-actuated dynamical model for the system. The robot consists of four parts: the running spherical shell (1P), the supporting platform (1P), the driving omnidirectional wheels (3P) and the bearing ball wheels (3P). Considering the noholonomic constrains aroused from the contacts of the shell with the omnidirectional wheels, and the shell with ground, we derived a dynamical model for the system by Chaplygin dynamics. The model illustrated that the robot was an under-actuated system of six DOF (degree of freedom) and three driving-torque inputs. finally, we performed an inverse dynamics simulations of S-curve trajectory to show the effectiveness of the model.
Highlights
Spherical robot is a kind of mobile mechanical system typically consisting of a rolling shell and an enveloped driving mechanism
The paper is arranged as follow: at first, we show the mechanical structure of the proposed spherical robot in detail; and we develop a dynamical model for the robot system by using Chaplygin equation; and at the end, we consider a S-curve trajectories of the spherical robot system and perform an inverse dynamics simulations to validate the effectiveness of the proposed model
One of the contribution of this research is that we proposed a novel spherical robot that can be driven by three omnidirectional wheels inside a sphere shell
Summary
Spherical robot is a kind of mobile mechanical system typically consisting of a rolling shell and an enveloped driving mechanism. The first one is the eccentric moment driving mean In this mean, the actuating mechanism of the spherical robot drives the COG(center of gravity) of the system deviating from the vertical sphere center line, and the sphere shell could run on ground. The second one is the angular momentum driving mean In this mean, the spherical robot usually configures with a high speed rotating rotor inside the sphere shell. Comparing to the angular momentum driving mean(the latter), the spherical robot that use the eccentric moment driving mean(the former) has exhibited a lot of. As a conclusion, developing a novel structure of the driving mechanism system by utilizing the omnidirectional wheels become an attracting area in the field of the spherical robot research. The paper is arranged as follow: at first, we show the mechanical structure of the proposed spherical robot in detail; and we develop a dynamical model for the robot system by using Chaplygin equation; and at the end, we consider a S-curve trajectories of the spherical robot system and perform an inverse dynamics simulations to validate the effectiveness of the proposed model
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