Research On A Kind Of Novel Full-Orientation Spherical Mobile Robot

Spherical mobile robot can realize full-orientation movement and has amplitude applications as a kind of novel robot with more simple configuration and easier control than traditional robot. It can be used as traffic conveyance or toy because of its better cross-country capability, especially can blow up, reconnoiter and transport government issue etc. in the field of military affairs.This thesis colligates merits and demerits of all spherical mobile robots to raise a project of "a kind of novel full-orientation spherical mobile robot" through researches. Its most work is described as below:1 . To establish elementary configuration project and most research contents through comparison and evaluation on base of diagnoses of spherical mobile robot.2. To form kinematics model and dynamics model by researches of its work mechanism with coordinate transform and Lagrange method, moreover to design a kind of full-orientation spherical mobile robot with better movement placidity.3. To establish math model of control system and design computer control system of full-orientation spherical mobile robot by researches of its movement balance system and path programming.4. To obtain a series of data and optimize correlative technical parameter by researches of its swatch manufacture and experiment.5. To offer base of theory and experiment for its more development. These are the most contributes of this thesis:1. To establish and design "a kind of novel full-orientation spherical mobile robot" by researches of spherical mobile robot problem in and abroad.2. To establish its mechanism system and math model of control system. and to design a practicality model for experimentation.