Design of centroid deviated spherical rolling robot
A spherical robot is a machine with a unique appearance and novel function. The spherical robot function designed in this study is limited to the movement in all directions. The principle is that the centroid of the spherical robot deviates from the centroid to create an unbalanced state, which driv...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-11-01
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| Series: | The Journal of Engineering |
| Subjects: | |
| Online Access: | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9106 |
| _version_ | 1818720693410332672 |
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| author | Wenjie Chai Yibo Zhang Quan Li |
| author_facet | Wenjie Chai Yibo Zhang Quan Li |
| author_sort | Wenjie Chai |
| collection | DOAJ |
| description | A spherical robot is a machine with a unique appearance and novel function. The spherical robot function designed in this study is limited to the movement in all directions. The principle is that the centroid of the spherical robot deviates from the centroid to create an unbalanced state, which drives the movement of the spherical robot. The structure of the spherical robot is mainly composed of a ball screw, two self-rotating frames, and a spherical shell. Its action is similar to that of the ‘Euphorbia’ – A self-aligning frame and a ball screw form a spherical coordinate system. Through the rotation of two self-rotating frames, a spherical coordinate is formed. The two corners of the system move in a vertical direction through the ball screw to achieve the movement of the target centre of mass on the polar axis. |
| first_indexed | 2024-12-17T20:26:54Z |
| format | Article |
| id | doaj.art-bb547138aea54414baa34bc947ca73d3 |
| institution | Directory Open Access Journal |
| issn | 2051-3305 |
| language | English |
| last_indexed | 2024-12-17T20:26:54Z |
| publishDate | 2019-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Journal of Engineering |
| spelling | doaj.art-bb547138aea54414baa34bc947ca73d32022-12-21T21:33:44ZengWileyThe Journal of Engineering2051-33052019-11-0110.1049/joe.2018.9106JOE.2018.9106Design of centroid deviated spherical rolling robotWenjie Chai0Yibo Zhang1Quan Li2Beijing Information and Science Technology UniversityBeijing Information and Science Technology UniversityBeijing Information and Science Technology UniversityA spherical robot is a machine with a unique appearance and novel function. The spherical robot function designed in this study is limited to the movement in all directions. The principle is that the centroid of the spherical robot deviates from the centroid to create an unbalanced state, which drives the movement of the spherical robot. The structure of the spherical robot is mainly composed of a ball screw, two self-rotating frames, and a spherical shell. Its action is similar to that of the ‘Euphorbia’ – A self-aligning frame and a ball screw form a spherical coordinate system. Through the rotation of two self-rotating frames, a spherical coordinate is formed. The two corners of the system move in a vertical direction through the ball screw to achieve the movement of the target centre of mass on the polar axis.https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9106motion controlmobile robotsball screwsrobot kinematicsrobot dynamicscentroidspherical rolling robotunique appearancenovel functionspherical robot functionspherical robot deviatesball screwself-rotating framesspherical coordinate system |
| spellingShingle | Wenjie Chai Yibo Zhang Quan Li Design of centroid deviated spherical rolling robot The Journal of Engineering motion control mobile robots ball screws robot kinematics robot dynamics centroid spherical rolling robot unique appearance novel function spherical robot function spherical robot deviates ball screw self-rotating frames spherical coordinate system |
| title | Design of centroid deviated spherical rolling robot |
| title_full | Design of centroid deviated spherical rolling robot |
| title_fullStr | Design of centroid deviated spherical rolling robot |
| title_full_unstemmed | Design of centroid deviated spherical rolling robot |
| title_short | Design of centroid deviated spherical rolling robot |
| title_sort | design of centroid deviated spherical rolling robot |
| topic | motion control mobile robots ball screws robot kinematics robot dynamics centroid spherical rolling robot unique appearance novel function spherical robot function spherical robot deviates ball screw self-rotating frames spherical coordinate system |
| url | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9106 |
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