Structure and dynamic modelling of a spherical robot

Author

Ghariblu, Hashem ; Mohammadi, Hadi

Author_Institution

Mech. Eng. Dept., Univ. of Zanjan, Zanjan, Iran

fYear

2012

fDate

10-12 April 2012

Firstpage

1

Lastpage

5

Abstract

This paper deals with the construction and dynamics of a spherical mobile robot. The robot longitudinal and lateral motions are obtained by replacing the mass center of the internal driving unit (IDU) with two sets of orthogonal actuation systems. The unique mechanical structure of the driving unit makes it more reliable and more stable than previous similar robots and results more precise control of the robot in different paths and places. The different components of mechanical construction, actuators drive and control system, and assembling these components to work as a robot are explained. Based on the Lagrangian formulation mathematical model and motion properties of the robot are analyzed.

Keywords

mathematical analysis; mobile robots; robot dynamics; stability; Lagrangian formulation mathematical model; actuators drive; control system; internal driving unit mass center; mechanical construction; orthogonal actuation systems; robot lateral motion; robot longitudinal motion; spherical mobile robot dynamics; spherical mobile robot structure; Electron traps; Mobile robots; Reactive power; Transmitters; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and its Applications (ISMA), 2012 8th International Symposium on

Conference_Location

Sharjah

Print_ISBN

978-1-4673-0860-1

Type

conf

DOI

10.1109/ISMA.2012.6215159

Filename

6215159