Study on movement stability for the spherical amphibious robot

In recent years, wheeled robots have get widely used and developed because of its advantages. But they also have some disadvantages, for example, they obviously can't be compared with the spherical amphibious robots on rough ground. The four-legged spherical amphibious robots can move quickly and smoothly on rough ground and have superior carrying capacity. This paper deeply analyzed the movement stability of spherical amphibious robot. We used Solid works to build the three dimensional model. Then we completed the definition and setting of the spherical amphibious robot model in ADAMS. We completed the design of the control system. Lastly, we carried out some experiment; we analyzed the experimental result and verified the validity of the structure. By compared different swing angle and movement cycle of the joints, we get the best swing angle and movement cycle of the robot.

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