Structural design of the internal and external driven spherical Robots

Spherical robot is breakthrough in robot motion mode,its motion is special.It is stable by its spherical shell.Underactuated spherical robot could achieve all-round movement by the least degree of freedom.In view of present spherical robot energy supply problems,put forward a kind of inside and outside driving inflatable ball type spherical robot,to the external natural wind as the main driving force,internal motor drive for auxiliary power,both external and internal wind driven motor drive advantages,better solve the problem of energy supply and the independent motion problems.By the analysis of principles of movement and design scheme,it can complete the design of structural model and main parts.