Open AccessDesign of centroid deviated spherical rolling robot
Author(s) -
Chai Wenjie,
Zhang Yibo,
Li Quan
Publication year - 2019
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2018.9106
Subject(s) - centroid , spherical coordinate system , ball (mathematics) , spherical shell , robot , rotation (mathematics) , spherical cap , spherical mean , physics , computer science , geometry , artificial intelligence , mathematics , mathematical analysis , engineering , shell (structure) , mechanical engineering
A spherical robot is a machine with a unique appearance and novel function. The spherical robot function designed in this study is limited to the movement in all directions. The principle is that the centroid of the spherical robot deviates from the centroid to create an unbalanced state, which drives the movement of the spherical robot. The structure of the spherical robot is mainly composed of a ball screw, two self‐rotating frames, and a spherical shell. Its action is similar to that of the ‘Euphorbia’ – A self‐aligning frame and a ball screw form a spherical coordinate system. Through the rotation of two self‐rotating frames, a spherical coordinate is formed. The two corners of the system move in a vertical direction through the ball screw to achieve the movement of the target centre of mass on the polar axis.