Research on the Structure Design of Double Eccentric Coaxial Spherical Robot
The paper design a double eccentric mass driven spherical robot, the ball is also subject to eccentric force and inertia force that generate by internal drive units in movement. Due to the unique spherical shell, the robot in the dynamic state transition process, Friction cannot offset the robot motion state change due to internal driving motion error of small units. In order to make linear movement of the spherical robot that can smooth start, stop and speed control, the paper design a method for linear motion driven spherical robot with double eccentric mass control. The improved driving eccentric mass of robot total mass ratio is larger, that can provide the eccentric torque and inertia moment more, the robot has higher motion velocity.
Yuhang Yang and Maode Ma
X. L. Shang, "Research on the Structure Design of Double Eccentric Coaxial Spherical Robot", Applied Mechanics and Materials, Vol. 539, pp. 9-12, 2014