Dynamic Modeling And Simulation Of Spherical Robots For Environment Exploration

This paper is respectively on the research of the wind-driven spherical robot with multiple shapes and the internal and external driven spherical robot, the dynamic modeling and analysis of those two types of robots was studied. The main studying contents and outcomes as follows:1. The bouncing dynamic model of the wind-driven spherical robot is established using the Kane's method. The rolling, sliding and floating dynamic models of the robot based on the Newton mechanics method are derived. We combine the dynamic models, and consider the effect of the stochastic wind in environment to analyze all the kinds of movements of the robots. The software platform of the movement analysis is developed, and the movement simulation of the robot is realized.2. For the internal and external driven spherical robot, based on the nonholonomic constraint, the dynamic model of the robot is established by using Maggi equation without the constraint's multipliers. The model can be used to analyze the law of motion of the robot under the wind-driven way, the internal driven way or together respectively. The simulation results indicate the effectiveness of the dynamic model.3. Based on the above work, this paper studies the influence of the environment and structure parameters on movement performance of two types of robots, which provides the foundation for the design of two types of robots.