Design of a novel spherical robot with high dynamic range and maneuverability for flexible applications

Inhalt:
In this paper a new spherical robot with high-dynamic and all-terrain motion capability for multiple tasks is presented. The robot motion capability is enhanced by using a new kinematic scheme with double single-axis gyroscope on a rotatable platform. The structural design of the robot is presented and its initial dynamic analysis using Matlab is performed. It was found that the robot could achieve a velocity of upto 3m/s and overcome an obstacle upto 1/4th height of its diameter. A comparison of the proposed scheme with an older robot indicate that it is better on all the important parameters for ball robots including motion dynamics and maneuverability.