Research On Spherical Omnidirectional Rolling Robots With Stable Platform

With the rapid development of the techniques and great improvement of the automatization in the field of robots, the functions of the robots are required to be more powerful, especially, many kinds of robots with more intelligence and roboticized apparatuses. A spherical robot is a novel kind of robots with intelligence.The main characteristic is its special motion pattern. It can move in all directions and never overturn.At present, spherical robots are still studied in laboratories. There are many factors limiting the applications of robots in practical fields. However, the facus is that there is not a relative stable platform lying inside the robot. So this work mainly studies the omnidirectional spherical rolling robot with a stable platform.Firstly, the research backgrounds on spherical robots are introduced. Then, two kinds of spherical omnidirectional rolling robots with stable platform have been designed based on the theory of momentum moment conservation and the method of distributing the center of gravity. According to the generalized Euler angles and the nonholonomic constraints rolling contact, their kinematic models and the motion analysis programmes are developed. Moreover, several typical motion cases of the robots are illustrated and simulated. Using the tools of differential geometric control theory, the motion planning of the first type of the spherical robots has been discussed. And the spherical robot can pose any positions and move along any traces by designing the servo motor's motion series. Finally, the virtual prototype of the first type of spherical robot has been made and the stability of its inner platform has been verified.