Dynamic modeling and kinematics characteristic analysis of spherical robot

Abstract

Based on the Kane′s method,the dynamic model of the spherical robot in non-ideal condition is developed;the effect of the joint friction,rolling resistance torque and out-of-roundness of the shell on the kinematics characteristics of the robot are analyzed;the cause of the shell-slippage problem during the moving of the spherical robot is given;the theoretical basis of the control strategies and mechanical design for the spherical robot is provided by the simulation result.