The Kinematics and Dynamics Motion Analysis of a Spherical Robot

Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot

Optimal design and experimental verification of a spherical-wheel composite robot with automatic transformation system

This paper presents a design for a dual-mode prototype robot with the advantages of both a spherical robot and wheeled robot. A spherical robot has flexible movement capabilities, and the spherical shell can protect the mechanism and electronic devices. A wheeled mobile robot operates at high speed on a flat road. Its simple structure and control system has made it a popular choice in the field of robotics. Our objective was to develop a new concept robot capable of combining two different locomotion mechanisms to increase the locomotion stability and efficiency. The proposed mobile robot prototype was found to be capable and suitable in different situations. The exchange of modes between the spherical and the wheeled robot was realized by a structural change of the robot. The spherical-wheel mobile robot prototype is composed of a deformable spherical shell system, the propulsion system for the sphere and a wheeled mobile unit module. The exchange of locomotion modes was implemented by changing the geometric structure of spherical shell. The mechanical structure of the composite robot is presented in detail as well as the control system including hardware components and the software. The control system allowed for the automatic transformation of the composite robot between either of the locomotion modes. Based on analysis and simulation, the mechanism was optimized in its configuration and dimension to guarantee that robot had a compact structure and high efficiency. Finally, the experimental results of the transformation and motion processes provided dynamic motion parameters and verified the feasibility of the robot prototype

Optimal design and experimental verification of a spherical-wheel composite robot with automatic transformation system

This paper presents a design for a dual-mode prototype robot with the advantages of both a spherical robot and wheeled robot. A spherical robot has flexible movement capabilities, and the spherical shell can protect the mechanism and electronic devices. A wheeled mobile robot operates at high speed on a flat road. Its simple structure and control system has made it a popular choice in the field of robotics. Our objective was to develop a new concept robot capable of combining two different locomotion mechanisms to increase the locomotion stability and efficiency. The proposed mobile robot prototype was found to be capable and suitable in different situations. The exchange of modes between the spherical and the wheeled robot was realized by a structural change of the robot. The spherical-wheel mobile robot prototype is composed of a deformable spherical shell system, the propulsion system for the sphere and a wheeled mobile unit module. The exchange of locomotion modes was implemented by changing the geometric structure of spherical shell. The mechanical structure of the composite robot is presented in detail as well as the control system including hardware components and the software. The control system allowed for the automatic transformation of the composite robot between either of the locomotion modes. Based on analysis and simulation, the mechanism was optimized in its configuration and dimension to guarantee that robot had a compact structure and high efficiency. Finally, the experimental results of the transformation and motion processes provided dynamic motion parameters and verified the feasibility of the robot prototype

Effects of the slope on the motion of spherical RollRoller robot

In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses

Working and Assembly Modes of the Agile Eye

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are orthogonal. Its most peculiar feature, demonstrated in this paper for the first time, is that its (orientation) workspace is unlimited and flawed only by six singularity curves (rather than surfaces). Furthermore, these curves correspond to self-motions of the mobile platform. This paper also demonstrates that, unlike for any other such complex spatial robots, the four solutions to the direct kinematics of the Agile Eye (assembly modes) have a simple geometric relationship with the eight solutions to the inverse kinematics (working modes)

Self-Motions of General 3-RPR Planar Parallel Robots

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented