Research Of A New Amphibious Spherical Robot

Based on the research of spherical robot, a new amphibious spherical robot was proposed by using the characteristic of Fully-closed of the spherical robot with screw propeller inside. The robot is fully enclosed mobile platform which will never tip over and its turning radius is zero. The robot can roll on land or underwater freely and also can move in the water.The robot can achieve search, salvage, rescue and military tasks on land as well as in rivers, lakes and oceans, with the sensors including the gyroscope, optical encoders, laser rangefinders and vision sensor, which expanded the usable range of a spherical robot.First, according to proposed amphibious spherical robot structure, the driving mechanism’s optimization design of the robot based on this type of structure was carried out in this paper.Second, this paper analyzed the kinematics and dynamics of the new spherical robot, and did a study on the motion control.Third, a whole design of the control system for the robot was carried out in the dissertation. According to the function requirement, the control system was made up of main control subsystem, execution subsystem, sensor subsystem, communication subsystem, power supply subsystem and host machine subsystem. Each subsystem’s components and relationships between all the subsystems were carried out in the dissertation.