Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels

Yonghua Huang; Ganmin Zhu; Changsheng Wang; Hao Huang

doi:10.1051/matecconf/201815302003

All issues

Volume 153 (2018)

MATEC Web Conf., 153 (2018) 02003

References

Open Access

Issue		MATEC Web Conf. Volume 153, 2018 The 4^th 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

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LI Tuan-jie, SU Li, ZHANG Yan. Design and Analysis of a Spherical Omnidirectional Rolling Robot Driven by Linear Motors[J]. Machine Design and Research, 2006, 22(4): 46-48. [Google Scholar]
Alves J, Dias J. Design and control of a spherical mobile robot[J]. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems & Control Engineering, 2003, 217(6): 457-467. [CrossRef] [Google Scholar]
Zhan Q, Cai Y, Yan C. Design, analysis and experiments of an omin-directional spherical robot [C]. IEEE International Conference on Robotics and Autmation. 2011: 4921-4926. [CrossRef] [Google Scholar]
Wang Kejun. Mechanism Analysis and Research of Spherical Robot Driven by Omnidirectional Wheel [D]. Beijing Jiaotong University, 2017. [Google Scholar]
SUN Hanxu, WANG Liangqing, JIA Qingxuan, LIU Daliang. Dynamic Model of the BYQ-3 Spherical Robot [J]. Journal of Mechanical Engineering, 2009, 45 (10): 8-14. [Google Scholar]
ZHAO Bo, LI Man-tian, SUN Li-nin. Turning in place motion control of two pendulums driven spherical robot[J]. Journal of Harbin Institute of Technology, 2011, 43(11): 49-53. [Google Scholar]
Yoon J C, Ahn S S, Lee Y J. Spherical robot with new type of two-pendulum driving mechanics[C]. IEEE International Conference on Intelligent Engineering Systems. 2011: 275-279. [Google Scholar]
Otani T, Urakubo T, Maekawa S, et el. Positional and attitude control of a spherical rolling robot equipped with a gyro[C]. IEEE International Workshop on Advance Motion Control. 2006: 416-421. [Google Scholar]
Joshi V A, Banavar R N, Hippalgaonkar R. Design and analysis of a spherical mobile robot[J]. Mechanism & Machine Theory, 2010, 45(5): 130-136. [CrossRef] [Google Scholar]

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[1] Halme A, Schonberg T, Wang Y. Motion control of a spherical mobile robot[C]. In Proceedings of the 4th International Workshop on Advanced Motion Control. 1996: 259-264. [CrossRef] [Google Scholar]

[2] Mukherjee R, Minor M A. A simple motion planner for a spherical mobile robot[C]. Proceedings of the 1999 IEEE International Conference on Advanced Intelligent Mechatronics. 1999: 896-901. [Google Scholar]

[3] Amir H J A, Mojabi P. Introducing Glory: A novel strategy for an omnidirectional spherical rolling robot[J]. Journal of Dynamic Systems Measurement & Control, 2004, 126(3): 678-683. [CrossRef] [Google Scholar]

[4] LI Tuan-jie, SU Li, ZHANG Yan. Design and Analysis of a Spherical Omnidirectional Rolling Robot Driven by Linear Motors[J]. Machine Design and Research, 2006, 22(4): 46-48. [Google Scholar]

[5] Alves J, Dias J. Design and control of a spherical mobile robot[J]. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems & Control Engineering, 2003, 217(6): 457-467. [CrossRef] [Google Scholar]

[6] Zhan Q, Cai Y, Yan C. Design, analysis and experiments of an omin-directional spherical robot [C]. IEEE International Conference on Robotics and Autmation. 2011: 4921-4926. [CrossRef] [Google Scholar]

[7] Wang Kejun. Mechanism Analysis and Research of Spherical Robot Driven by Omnidirectional Wheel [D]. Beijing Jiaotong University, 2017. [Google Scholar]

[8] SUN Hanxu, WANG Liangqing, JIA Qingxuan, LIU Daliang. Dynamic Model of the BYQ-3 Spherical Robot [J]. Journal of Mechanical Engineering, 2009, 45 (10): 8-14. [Google Scholar]

[9] ZHAO Bo, LI Man-tian, SUN Li-nin. Turning in place motion control of two pendulums driven spherical robot[J]. Journal of Harbin Institute of Technology, 2011, 43(11): 49-53. [Google Scholar]

[10] Yoon J C, Ahn S S, Lee Y J. Spherical robot with new type of two-pendulum driving mechanics[C]. IEEE International Conference on Intelligent Engineering Systems. 2011: 275-279. [Google Scholar]

[11] Otani T, Urakubo T, Maekawa S, et el. Positional and attitude control of a spherical rolling robot equipped with a gyro[C]. IEEE International Workshop on Advance Motion Control. 2006: 416-421. [Google Scholar]

[12] Joshi V A, Banavar R N, Hippalgaonkar R. Design and analysis of a spherical mobile robot[J]. Mechanism & Machine Theory, 2010, 45(5): 130-136. [CrossRef] [Google Scholar]