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Zhan Qiang
Jia Chuan
Ma Xiaohui
Robot Research Institute,
Beihang University,
Beijing 100083, China
Zhai Yutao
China Aerospace Science & Industry Academy of Technology,
Beijing 100037, China |
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MECHANISM DESIGN AND MOTION ANALYSIS
OF A SPHERICAL MOBILE ROBOT*
Abstract:
A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a flat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1
Key words:
Spherical mobile robot Mechanism design Motion analysis |