Design Analysis and Implementation of a Passive Expansion Spherical Robot
Shao Pai
Qin Jianjun
Cao Yu
Liu Xingjie
Chen Haonan
Abstract：A linear deployable gear and rack mechanism is introduced.In order to improve the maneuver-ability and obstacle-crossing performance of the spherical robot in different scenarios such as narrow space,complex terrain and bumpy road,a passive expanded single-degree of freedom mechanism is used to expand the expanded radius to improve the obstacle-crossing performance.A linear expanded rack-and-pinion mechanism is introduced to design a spherical robot with compact structure and multiple motion modes.Mathematical mod-els are established to perform kinematic and dynamic analysis of spherical robot mechanisms,the simulation re-sults of rolling and obstacle crossing are compared with the theoretical values to verify the correctness of kine-matics and dynamics.On this basis,the prototype is made to further verify the feasibility of the mechanism,and verify that the mechanism has strong mobility and obstacle crossing ability.
Keywords：Spherical robotObstacle crossing performanceKinetic analysisPassive expansionAdams
Publication Date：2024-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 75-82 )