Design and Analysis of Multi Frame Shell and Suspension of Spherical Robot

Abstract

Now there are many types of research on the spherical robot to solve the problems of different scenes. However, the spherical robot has some problems, such as a complex system, heavy structure, and short endurance time. In this paper, the kinematics of the spherical robot is modeled, and the weight of the spherical robot is reduced by designing a multi frame structure. The drop impact of the spherical robot is mitigated by the spring damping mechanism, and the drop test finite element analysis of the spherical robot is carried out. The analysis results show that the spring damping mechanism design can effectively reduce the force between the internal structures under the impact of falling, so as to avoid or alleviate the damage to the internal structure of the spherical robot.