Kinetic Model for a Spherical Rolling Robot with Soft Shell in a Beeline Motion

A simplified kinetic model called Spring Pendulum is developed for a spherical rolling robot with soft shell in order to meet the needs of attitude stabilization and controlling for the robot. The elasticity and plasticity of soft shell is represented by some uniform springs connected to the bracket in this model. The expression of the kinetic model is deduced from Newtonian mechanics principles. Testing data of the driving angle acquired from a prototype built by authors indicate that testing data curve accords to the theoretic kinetic characteristic curve, so the kinetic model is validated

[1]  Ravi N. Banavar,et al.  Design and analysis of a spherical mobile robot , 2010 .

[2]  Yun-Jung Lee,et al.  Spherical robot with new type of two-pendulum driving mechanism , 2011, 2011 15th IEEE International Conference on Intelligent Engineering Systems.

[3]  B. Noble,et al.  On certain integrals of Lipschitz-Hankel type involving products of bessel functions , 1955, Philosophical Transactions of the Royal Society of London. Series A, Mathematical and Physical Sciences.

[4]  P. Cochat,et al.  Et al , 2008, Archives de pediatrie : organe officiel de la Societe francaise de pediatrie.

[5]  Bo Zhao,et al.  Linear Motion Control of Two-pendulums-driven Spherical Robot , 2011 .

[6]  Mojtaba Ahmadieh Khanesar,et al.  Extended Kalman Filter Based Learning Algorithm for Type-2 Fuzzy Logic Systems and Its Experimental Evaluation , 2012, IEEE Transactions on Industrial Electronics.

[7]  P. Wide,et al.  An Autonomous Spherical Robot for Security Tasks , 2006, 2006 IEEE International Conference on Computational Intelligence for Homeland Security and Personal Safety.

[8]  Hao Wu,et al.  Modeling and simulation of a spherical mobile robot , 2010, Comput. Sci. Inf. Syst..

[9]  New analytical model for composite materials containing local resonance units , 2011 .

[10]  Qiang Zhan,et al.  Design, analysis and experiments of an omni-directional spherical robot , 2011, 2011 IEEE International Conference on Robotics and Automation.

[11]  Jim Euchner.  Design , 2014, Catalysis from A to Z.

[12]  T. Yorozu,et al.  Electron Spectroscopy Studies on Magneto-Optical Media and Plastic Substrate Interface , 1987, IEEE Translation Journal on Magnetics in Japan.

[13]  Sun Hanxu.  Dynamic modeling and kinematics characteristic analysis of spherical robot , 2012 .

[14]  Lining Sun,et al.  Simulation Platform of Monitoring and Tracking Micro System for Dangerous Chemicals Transportation , 2013, J. Networks.

[15]  Wouter Saeys,et al.  Modeling and control of a spherical rolling robot: a decoupled dynamics approach , 2011, Robotica.

[16]  Deng Zongquan.  Research on the effecting of coulomb friction constraint to the Spherical robot , 2007 .

[17]  Shinichi Hirai,et al.  Circular/Spherical Robots for Crawling and Jumping , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[18]  Su Yan-ping.  Structural design of the internal and external driven spherical Robots , 2012 .