Authors
Liu Wei*, Wang Runjiao, Duan Lunqin, Wang Yanyan, Wang Jiwu
Mechanical Engineering Department, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
*Corresponding author. Email: [email protected]
Corresponding Author
Liu Wei
Received 27 October 2018, Accepted 31 December 2018, Available Online 10 December 2019.
DOI
https://doi.org/10.2991/jrnal.k.191202.003How to use a DOI?
Keywords
Spherical mobile robot; omni wheel; arc track; eccentric gravitational moment
Abstract
This paper presents a new spherical mobile robot driven by single omni wheel. The physical model is that an arc track is built inside the sphere shell and can rotate around a spherical diameter freely. It supports one driving omni wheel and keeps the driving omni wheel touching the inside of the sphere shell. The touching friction force can drive the sphere rolling forward or backward. Steering drive can move the omni wheel running along the arc track, that leads the spherical mobile robot turning left or right. The omni wheel can run sphere shell in straight way and turn its direction freely at same time. The mechanism of the spherical mobile robot is described in detail, and its motion and dynamics coordinate systems are built to analysis. The preliminary analysis shows that the robot has a variety of good motion capabilities, such as obstacle crossing, jumping, small radius steering etc.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).