Development Of An Openable Spherical Robot

A spherical robot is a special robot with a spherical shape or similar to a spherical shape.It is different from common mobile robots.Its movement form is mainly rolling.It can use its spherical envelope shell to achieve omnidirectional rolling.Enclosed inside it to prevent damage to the internal structure.Compared with general traditional mobile robots,spherical robots do not roll over,move flexibly,and have better overall airtightness,which makes them have very broad application scenarios in the fields of emergency rescue and social services.In view of the complex terrain environment and task requirements,it is difficult for traditional single spherical robots to meet the above challenges to complete tasks such as environmental reconnaissance,information collection,and coordinated external operations.Therefore,the development of spherical robots with variable configurations has important application prospects.Aiming at the weak external perception and operation ability of spherical robots,this paper proposes to develop an openable spherical robot mobile platform.Aiming at the related problems of the openable spherical robot,the research mainly focuses on three aspects:structural design of the openable spherical robot unit module,kinematics and dynamics modeling,and control system design.The specific work contents are as follows:1.Based on the total requirement that the spherical robot shell can be opened and closed and capable of external operation,according to the main driving principle of the existing spherical robot,a design scheme based on the principle of centroid offset is selected.According to the above driving principle,the detailed design of the openable spherical robot is carried out:first,the overall design scheme is proposed,secondly,the main parameters of the structural design are set,and finally the transmission mechanism,spherical shell,heavy pendulum and main frame are designed.After the structural design is completed,the material and tolerance level of the machined parts are selected,and the strength of the key parts is checked to ensure the reliability of the design.2.Aiming at the complex problem of spherical robot modeling,an idealized physical model of spherical robot is proposed,and the kinematics and dynamics of the idealized model are modeled.The modeling process is as follows:under the condition of pure rolling constraint,the kinematic modeling of the open state of the spherical robot is carried out by using the contact kinematics method,and then the dynamic modeling of the open state of the spherical robot is carried out by the Lagrange equation method,and the dynamic model is simulated and verified,which provides theoretical support for the subsequent control system design.3.Complete the design of the control system of the spherical robot,including the selection design of the hardware layer and the program design of the software layer.Combined with the dynamic model in Chapter 3,PID control is used as the controller of the system,and the effectiveness of the controller is verified by simulation experiments.4.Carry out physical experiments on the openable spherical robot,mainly including:openable spherical robot spherical shell opening and closing experiment,linear motion experiment,circular motion experiment and rotation motion experiment.Based on the analysis of the experimental results,the openable spherical robot developed in this paper is verified.The spherical robot prototype can meet the design requirements.