DocumentCode :
1630165
Title :
Design, dynamic modeling and simulation of a spherical mobile robot with a novel motion mechanism
Author :
Ghanbari, A. ; Mahboubi, S. ; Fakhrabadi, M.M.S.
Author_Institution :
Dept. of Mech. Eng., Univ. of Tabriz, Tabriz, Iran
fYear :
2010
Firstpage :
434
Lastpage :
439
Abstract :
In this paper, we offer a new design for a spherical mobile robot with much ability in maneuvering, which can be used for discovery and patrolling applications. Our proposed design consists of two essential parts: the inside drive unit which is called IDU and the outer spherical shell that can be made of glass, plastics or any other similar material. The IDU of our presented model is mounted inside the spherical shell and has four motors (two servo and two linear motors). The servo motors, which connect pendulums and outer shell, generate the driving torque. Linear motors are used to displace the center of mass that causes the robot to tilt. Therefore, the motion of the robot can be on a curve. Firstly, the dynamic model of a simplified version of this kind of spherical robots is obtained. Having dynamic modeling, we can obtain proper moment of two servo motors and proper displacement of two linear motors to drive robot along straight and circular trajectories. By using a dynamic simulation in MSC.ADAMS package, we can verify the accuracy of the obtained dynamic model to track a circular trajectory.
Keywords :
linear motors; mobile robots; modelling; position control; robot dynamics; servomotors; simulation; MSC.ADAMS package; center of mass; circular trajectory; driving torque; dynamic modeling; dynamic simulation; inside drive unit; linear motor; maneuvering; motion mechanism; servo motor; spherical mobile robot; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on
Conference_Location :
Qingdao, ShanDong
Print_ISBN :
978-1-4244-7101-0
Type :
conf
DOI :
10.1109/MESA.2010.5551991
Filename :
5551991
Link To Document :
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