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1 December 2023 Dynamic performance analysis and experimental research of a spherical robot
Shengju Sang, Yueying Wu, Bin Feng, Mingchao Jia, Zhe Li
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Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129402J (2023) https://doi.org/10.1117/12.3011031
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China
Abstract
A novel driving principle of electromagnetic driven Spherical robot is proposed, combining the two principles of changing the center of mass and conservation of angular momentum, and a prototype of electromagnetic driven Spherical robot is developed. In this paper, the prototype is taken as the research object, and the dynamic analysis is carried out on its climbing ability. To improve the dynamic performance of the spherical robot, the influencing factors of the dynamic performance of the spherical robot are studied: one is the ratio of the equivalent pendulum mass m of the spherical robot to the total mass (M+m) of the spherical robot, and the other is the length of the equivalent pendulum of the spherical robot the ratio of r to the radius R of the spherical robot. Then the maximum climbing angle model of the spherical robot is deduced. The experimental results show that the design of the spherical robot is reasonable and the dynamic analysis is effective.
(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Shengju Sang, Yueying Wu, Bin Feng, Mingchao Jia, and Zhe Li "Dynamic performance analysis and experimental research of a spherical robot", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129402J (1 December 2023); https://doi.org/10.1117/12.3011031
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KEYWORDS
Analytical research
Electromagnetism
Prototyping
Angular momentum
Control systems
Motion models
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