Military Spherical Robot Concept And Operating Characteristics Analysis

Military spherical mobile robot is a fresh robot where hull is spherical shape. Its features are moving flexible, owning small turn radius, built-in devices. Therefore, spherical mobile robot has a wild military application. Its conceptual model is designed and running characteristic is analyzed in the article.Analyzing the present developed Spherical mobile robot, this article shows a new conceptual model of Spherical mobile robot structure. Its characteristics are simple mechanism, easy control and stability platform installed equipment. So the value of double pendulum spherical mobile robot is large.Base on the conceptual model, a new spherical mobile robot is created, which is called double pendulum spherical mobile robot. Using the theory of vector mechanics, the article analyzes double pendulum spherical mobile robot in the respects of kinematics analysis, dynamics analysis and leap motion. Then using numerical solution of differential equation, robot' motion variation curves, which is the velocity of sphere and beam angle, is plotted in the software of MATLAB. Meanwhile, robot motion is simulated in the software of ADAMS and obtained motion relative curves of front parameter. The results of the two methods are coincidence. It proves that the process of mechanics analysis, the method of solution and ADAMS simulation are correct and valid. The relations of hammer' quality and motor rotating speed with robot' motion, which is maximum instantaneous velocity, maximum average velocity and beam angle, is analyzed. Those conclusions provide reference for the structure design and motion control of double pendulum spherical mobile robot.The conceptual preproduction model of double pendulum spherical mobile robot is researched. Its work contains: structure design, choosing and control motor, radio communication design, human-computer interface design, power supply design. The conceptual preproduction model runs in the model of expectation. According to research, realization of double pendulum spherical mobile robot is laid a strong foundation, and research of military spherical mobile robot is referred.