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This paper proposes a double-ring clutch-type electromagnetic drive spherical robot. By controlling the position of the center of mass and the rolling direction of the left and right hemispheres, the omnidirectional rolling of the spherical robot can be realized, and the turning motion of the robot can be realized by using the principle of hemisphere differential. The left and right hemispheres of the clutch-type electromagnetically driven spherical robot have two states of unfolding and closing. When the two hemispheres are in the unfolded state, it has the characteristics of a wheeled robot and can move forward or backward smoothly and quickly in a better terrain environment. When the left and right hemispheres are closed, the double-ring clutch electromagnetically driven spherical robot has the advantages of "not afraid of falling over and flexible movement" of the spherical robot. The simulation research based on ADAMS technology shows that the stability of the spherical robot is poor when it is in the closed state, but it has good stability when it is in the unfolded state. Therefore, the correctness of the driving principle and the rationality of the structural design of the hemispherical differential spherical robot are verified.
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