Author:
Wang Futao,Li Chaobing,Niu Shaohua,Wang Pengfei,Wu Huaisong,Li Bingyang
Abstract
Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.
Funder
Technology 173 Program Technical Field Fund
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Cited by
15 articles.
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