Development Of A Three-Dimensional-Flywheel Robotic System

摘要

In this paper, a new design of spherical robotic system<br> based on the concepts of gimbal structure and gyro dynamics is<br> presented. Robots equipped with multiple wheels and complex<br> steering mechanics may increase the weight and degrade the energy<br> transmission efficiency. In addition, the wheeled and legged robots are<br> relatively vulnerable to lateral impact and lack of lateral mobility.<br> Therefore, the proposed robotic design uses a spherical shell as the<br> main body for ground locomotion, instead of using wheel devices.<br> Three spherical shells are structured in a similar way to a gimbal<br> device and rotate like a gyro system. The design and mechanism of the<br> proposed robotic system is introduced. In addition, preliminary results<br> of the dynamic model based on the principles of planar rigid body<br> kinematics and Lagrangian equation are included. Simulation results<br> and rig construction are presented to verify the concepts.