| Issue |
MATEC Web Conf.
Volume 153, 2018
The 4th International Conference on Mechatronics and Mechanical Engineering (ICMME 2017)
|
|
|---|---|---|
| Article Number | 02003 | |
| Number of page(s) | 7 | |
| Section | Robot Design and Development Technology | |
| DOI | https://doi.org/10.1051/matecconf/201815302003 | |
| Published online | 26 February 2018 | |
Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels
School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin, China, 541004
In this paper, our work focused on designing a novel spherical robot driven by omnidirectional wheels and developing an under-actuated dynamical model for the system. The robot consists of four parts: the running spherical shell (1P), the supporting platform (1P), the driving omnidirectional wheels (3P) and the bearing ball wheels (3P). Considering the noholonomic constrains aroused from the contacts of the shell with the omnidirectional wheels, and the shell with ground, we derived a dynamical model for the system by Chaplygin dynamics. The model illustrated that the robot was an under-actuated system of six DOF (degree of freedom) and three driving-torque inputs. finally, we performed an inverse dynamics simulations of S-curve trajectory to show the effectiveness of the model.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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