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Proceedings Paper

Mechanical analysis and optimal design of a new kind of spherical mobile robot with two modes of locomotion
Author(s): Hanxu Sun; Wei Zhao; Ping Sun
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Paper Abstract

For enhance the grade ability of spherical robot, a new kind of spherical robot with climb link mechanism is designed. This kind of spherical robot can move in traditional way by the pendulum or move across large gradient slope by the new climb link mechanism. The mechanics model of the new spherical robot across slope by the climb link mechanism is created. Then the model is simulated by simulation software. The simulation result verifies the mechanism model’s accuracy. Then the mechanical model of this new spherical robot named BYQ-X was made out. The mechanical structure and motion control system are detailed introduced. Finally, the accuracy of the mechanical model, the validity of the climb link mechanism are verified by tests of mechanical model.

Paper Details

Date Published: 27 February 2015
PDF: 9 pages
Proc. SPIE 9375, MOEMS and Miniaturized Systems XIV, 93750Z (27 February 2015); doi: 10.1117/12.2078546
Show Author Affiliations
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Wei Zhao, Beijing Univ. of Posts and Telecommunications (China)
Ping Sun, Beijing Normal Univ. (China)


Published in SPIE Proceedings Vol. 9375:
MOEMS and Miniaturized Systems XIV
Wibool Piyawattanametha; Yong-Hwa Park, Editor(s)

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