吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1386-1394.doi: 10.7964/jdxbgxb201305038

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Mechanical analysis and optimal design of a new spherical mobile robot with two moving modes

ZHAO Wei, SUN Han-xu, JIA Qing-xuan, ZHANG Yan-heng, YU Tao   

  1. School of Automation, Beijing University of Posts and Telecommunication, Beijing 100876, China
  • Received:2012-09-20 Online:2013-09-01 Published:2013-09-01

Abstract:

To overcome the climbing weakness of traditional spherical robots, a new spherical robot with climbing link mechanism is designed. This new spherical robot can not only walk in the traditional way as an inverted pendulum, but also climb a steep slope with the new climbing link mechanism. The climbing mechanics model of the new spherical robot is created. Then the climbing processes of both traditional spherical robot and the new robot are simulated using simulation software. Simulation result verifies the climbing mechanics model. The parameters which can influence the climbing ability of spherical robot are analyzed and optimized. A prototype of this new spherical robot named BYQ-X is constructed based on the analysis results. The mechanical structure and motion control system are introduced in details. Finally, the accuracy of the mechanics model and the ability of the climb link mechanism are verified by the tests of the prototype.

Key words: automatic control, spherical robot, climbing ability, climb link mechanism

CLC Number: 

  • TP242

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