Abstract
In order to enhance the external operability and stability of spherical robots, a spherical shell unfolding mechanism is used to increase the contact area between the spherical robot and the ground, thereby enhancing stability. The introduction of unfolding mechanisms has improved the operability of spherical robots in external environments. A compact spherical robot with two forms of unfolding and closing was designed by introducing a gear rack unfolding mechanism. Establish a kinematic model and conduct kinematic analysis on the dual shaped spherical robot in both open and closed states, laying a foundation for later research.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Qiang, Z., Wei, L.: Research progress and development trends of spherical mobile robots. J. Mech. Eng. 55(09), 1–17 (2019)
Ma, L., Sun, H., Li, M., et al.: Design and motion analysis of a radial variable center of mass spherical robot. J. Mech. Eng. 58(05), 44–56 (2022)
Chai, W., Zhang, Y., Li, Q.: Design of centroid deviated spherical rolling robot. J. Eng. 2019(23), 8786–8789 (2019)
Gajbhiye, S., Banavar, N.R.: Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum. Int. J. Robust Nonlinear Control 26(11), 2436–2454 (2016)
Zhan, Q., Jia, C., Ma, X., et al.: Analysis of motion performance of a spherical mobile robot. J. Beihang Univ. (07), 744–747 (2005). https://doi.org/10.13700/j.bh.1001-5965.2005.07.011
Wei, Y.: Research on a Spherical Robot with Omnidirectional Motion. Tianjin University (2018)
Muralidharan, V., Mahindrakar, D.A.: Geometric controllability and stabilization of spherical robot dynamics. IEEE Trans. Automat. Contr. 60(10), 2762–2767 (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Jianan, M., Fang, X., Chenlong, X. (2024). Structural Design and Kinematic Analysis of a Dual Shaped Spherical Robot. In: Yue, X., Yuan, K. (eds) Proceedings of 2023 the 6th International Conference on Mechanical Engineering and Applied Composite Materials. MEACM 2023. Mechanisms and Machine Science, vol 156. Springer, Singapore. https://doi.org/10.1007/978-981-97-1678-4_35
Download citation
DOI: https://doi.org/10.1007/978-981-97-1678-4_35
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-97-1677-7
Online ISBN: 978-981-97-1678-4
eBook Packages: EngineeringEngineering (R0)