Mechanism Analysis And Research Of Heavy-duty Spherical Robot With Five Omnidirectional Wheels And Double Drives

Because of its good rolling characteristics,the sphere has inspired many scholars to study the spherical robot.The research work on spherical robots has been carried out for nearly 30 years.During this period,scholars have developed many types of spherical robots that can be used in space exploration,military,children's toys and other fields.This paper implements a reloadable spherical robot mechanism driven by five omnidirectional wheels.The main research work completed is as follows:1.The mechanism characteristics of various existing spherical robots are summarized,a reloadable spherical robot driven by five omnidirectional double motors is designed,and the mechanism design is completed.2.Using the classic kinematics and dynamics theory,the kinematic characteristics of the five-omnidirectional double-drive heavy-duty spherical robot are analyzed.Its dynamic equation is constructed by Newton-Euler method.The sphere and its interior are solved by numerical analysis.Drive unit dynamics.3.Various motion forms of the five-omnidirectional double-drive heavy-duty spherical robot are studied.The three stages of linear motion are analyzed;the motion mechanism and motion capability of the spherical robot under various motions such as steering,obstacle crossing,climbing,and jumping are studied.4.With the help of the multi-body dynamics software ADAMS,the virtual prototype of the five-omnidirectional double-drive heavy-duty spherical robot was simulated and analyzed,and its motion laws such as speed,displacement,and internal drive unit swing angle were obtained to verify the classic theoretical analysis.Rationality.5.Finally,an Arduino controller was used to build a control drive system,and preliminary tests of physical prototypes were completed,and the function of a five-omnidirectional double-drive heavy-duty spherical robot was further verified.Preliminary multi-body dynamics simulation and physical prototype tests show that it has good omnidirectional motion function and dynamic characteristics.