Analysis and Simulation of a Spherical Robot
In this paper, a spherical robot with an internal mechanism for propulsion is briefly introduced. The spherical robot is actuated and steered through a couter-weight pendulum connected to the main axle, a drived motor and a steer motor. A mathematical model of the robot’s dynamic and motion is instructed. The 3D model of the robot is built by SOLIDWORKS and then exported to ADAMS for simulation. For a number of missions, it is shown experimentally that the model agrees well with the results.
Zhihua Xu, Gang Shen and Sally Lin
S. J. Sang et al., "Analysis and Simulation of a Spherical Robot", Advanced Materials Research, Vols. 171-172, pp. 748-751, 2011