Multi-Body Dynamics Modeling of a Spherical Mobile Robot

Abstract:

This paper presents the multi-body dynamics modeling of a spherical mobile robot based on Kane method. Based on the kinematics model, the Kane method is employed to analyze the motion of three main parts of robot. A two order dynamics model of spherical mobile robot is obtained. To validate such model, some simulations are fulfilled in both Mathematica and RecurDyn environments. Simulation result shows that, the modeling of spherical mobile robot is correct and effective.

• Periodical: Applied Mechanics and Materials (Volumes 635-637)
• Pages: 1321-1324
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.635-637.1321
• Online since: September 2014
• Authors: Yao Cai*, Feng Gao, Ze Ning Liu
• Keywords: Kane Method, Kinematics, Multi-Body Dynamics, Spherical Mobile Robot

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