The Design of Two Pendulums Spherical Robot.docVIP

The Design of Two Pendulums Spherical Robot 　　Abstract. A spherical robot driven by two pendulums is designed, which is actuated by both the eccentric force and the inertial force generated by the inner drive unit when the robot is in motion. This improved drive manner improve the eccentric mass ratio greater than the robot total mass, can provide more eccentric moment and the moment of inertia, so that the robot has a higher speed of movement. Through the analysis of movement principle and design to complete the structural model and the main components of the spherical robot design. 　　Key words: robot; two pendulums; spherical 　　Introduction 　　Spherical robot is a new type of mobile robot for a walk on a rolling basis, compared with the traditional wheeled foot spherical robot, spherical robot with its unique structure and movement principle. In structure, the shell of the spherical robot spherical or near-spherical, other institutions, devices are encapsulated within the sphere, and to prevent the external environment to cause damage to the components. Athletic stance when robots have been hit or fall from a height, the spherical shell is easy to adjust and recovery will not occur overturn the situation. Spherical robot in wet, dusty, rugged in the complex environment of the job can be used for military reconnaissance, planet exploration, disaster search and rescue missions. Movement principle, spherical robot through the movement of the internal driving unit to break the static balance of the sphere, to achieve rolling walking under the eccentric force produced by the drive unit movement and the force of inertia. The flexible spherical robot movement, with a pivot turn and all-round rolling capacity, capable of operating in a narrow space, industrial pipes, ditches, etc. can be used for detection of the narrow space environment. 　　In this paper, within the driver spherical robot comprehensive comparative analysis of their respective advantages and disadv