Dynamic simulation of a reconfigurable spherical robot

This paper describes the transformation process of a spherical robot into a configuration of two interconnected hemispheres with three omni-directional wheels. The spherical form of the robot facilitates ease of transport, storage and handling, whereas the wheeled configuration provides mobility and maneuverability. The transformation process is first analyzed in terms of an equation of motion, and its feasibility is validated using a dynamic simulation in MSC.ADAMS. The dynamic simulation results show that the robot can be reconfigured in any configuration. The largest torque required for the transformation occurs during the release of the robot legs while the flat sides of the two hemispheres facing the ground.