Abstract
A spherical robot driven by two pendulums is designed, which is actuated by both the eccentric force and the inertial force generated by the inner drive unit when the robot is in motion. This improved drive manner improve the eccentric mass ratio greater than the robot total mass, can provide more eccentric moment and the moment of inertia, so that the robot has a higher speed of movement, Through the analysis of movement principle and design to complete the structural model and the main components of the spherical robot design.
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