The Design and Analysis of A Spherical Mobile Robot

摘要

The paper deals with a spherical mobile robot, which is a nonholonomic system. It has two motors used as the inside driving units. Omnidirectional movements, including rotation and the ability of climbing, are possible through changing the position of a weight. It can be used in various fields for its outstanding flexibility. The design and the mathematical models on kinematics are developed in this paper.