Mechanical Analysis of the Jumping Motion of a Spherical Robot

Wei Zhao; Han Xu Sun; Qing Xuan Jia; Yan Heng Zhang; Tao Yu

doi:10.4028/www.scientific.net/AMR.591-593.1457

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 591-593Mechanical Analysis of the Jumping Motion of a...

Mechanical Analysis of the Jumping Motion of a Spherical Robot

Abstract:

The obstacle surmounting capability of traditional spherical mobile robot is limited, especially when the spherical mobile robot comes across vertical barrier. In this paper we design a new kind of spherical mobile robot with two-mass-one-spring mechanism based on tradition spherical mobile robot. This spherical robot could not only move agility and move with the zero turning radius like traditional spherical mobile robot but also jump in three-dimensional space. In this paper we build the mathematical model of robot jumping with friction. Numeric simulations are carried out for the model using Matlab and ADAMS, we get the similar curve. These simulation results verify the validity of the mechanics model. At last we design an experimental facility, verify the model of robot jumping by experiment. Our work will be the base of model machine designing.

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Periodical:

Advanced Materials Research (Volumes 591-593)

Pages:

1457-1460

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.591-593.1457

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Online since:

November 2012

Authors:

Wei Zhao, Han Xu Sun, Qing Xuan Jia, Yan Heng Zhang, Tao Yu

Keywords:

Jumping Movement, Mechanics Model, Spherical Robot, Two-Mass-One-Spring Mechanism

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References

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