Design And Performance Analysis Of The Internal And External Driven Spherical Robots

Spherical robot development is only about 20 years, Being a breakthrough of the motion modes of traditional robots, spherical robots are one of the sbjects in great demand for the mobile robots'research. At present, much of spherical robots are driven by inside drive units that are difficult to solve the problem of supplying the enough power sources for the robots system. In this paper, a kind of internal and external driven spherical robot is presented and its structural design, static balance analysis, performance of overcoming obstacles are mainly studied.At the beginning, the status in quo of the research on spherical robots was stated and the existing main problems followed.Then the internal and external driven spherical robot was chosen as the studied object. The spherical robot was designed based on the method of applying the robot-driven force couple caused by offseting the gravity center. And, it was driven mainly by the external wind force and had the internal motor as its sub-drive impetus.Then, using the theory of aerodynamics and statics, the static equilibrium equation of the spherical robot was built. The author Produced a mosaic figures in the sphere of internal barometer to the internal sphere of real-time access to the initial pressure, by measuring the air pressure in all the contacts under the corresponding radius.therefore, the robot's static equilibrium equations was verified.Finally, according to the theory of moment balance, the constraint equations that described the performance of overcoming obstacles for the spherical robot were developed. With these equations, wind velocity, the slope angle of the terrain, the height of obstacles, the size and weight of the sphere and the ball-ground contact area were determined to be associated each other by some functions.