Dynamic Modeling and Simulation of the Internal- and External-Driven Spherical Robot
Publication: Journal of Aerospace Engineering
Volume 25, Issue 4
Abstract
This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic robot system. The spherical robot is driven together by an internal linear motor, continuously changing the center of gravity, and external wind thrust. A mathematical model of the robot’s motion was developed using Maggi’s equations without the Lagrange’s multipliers from a view of the nonholonomic constraint. An obstacle avoidance experiment was carried out to analyze the law of motion of the robot driven three ways: external wind driven, internal motor driven, and a combination of both. The results demonstrate that the proposed dynamic model is valid for the spherical robots driven by the different ways for environmental exploration.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This research is sponsored by the National Natural Science Foundation of China through NSFC Grant No. 50875193.
References
Amir, H., Javadi, A., and Puyan, M. (2002). “Introducing august: A novel strategy for an omnidirectional spherical rolling robot.” Proc., 2002 IEEE Int. Conf. Robotics Automation, IEEE, New York, 3527–3533.
Flick, J. J., and Toniolo, M. D. (2005). “Preliminary dynamic feasibility and analysis of a spherical, wind-driven (tumbleweed), martian rover.” Proc., 43rd AIAA Aerospace Sci. Meeting and Exhibit, American Institute of Aeronautics and Astronautics, Reston, VA, 1–12.
Hajos, G. A., Jones, J. A., Behar, A., and Dodd, M. (2005). “An overview of wind-driven rovers for planetary exploration,” Proc., 43rd AIAA Aerosp. Sci. Meeting and Exhibit, American Institute of Aeronautics and Astronautics, Reston, VA, 1–13.
Kolacinski, R. M., and Quinn, R. D. (2004). “Design of a biologically inspired martian rover based upon the Russian thistle (salsola tragus).” Dyn. Control Space Struct. Symp. (DCSSS04), Cranfield Univ., Cranfield, Bedfordshire, U.K., 19–22.
Landau, L. D., and Lifshitz, E. M. (1996). Mechanics, 3rd Ed., Butterworth-Heinemann, Oxford, U.K.
Li, T. J., and Liu W. G. (2011). “Design and analysis of a wind-driven spherical robot with multiple shapes for environment exploration.” J. Aerosp. Eng., 24(1), 135–139.
Li, T. J., Zhang, Y. G., and Zhang, Y. (2006) “Approaches to motion planning for a spherical robot based on differential geometric control theory,” Proc., 6th World Congress on Intelligent Control and Automation, IEEE, New York, 8992–8996.
Mei, F. X. (2007). Equations of motion of nonholomic systems and variational principle, Beijing Institute of Technology Press, Beijing.
Suomela, J., and Ylikorpi, T. (2006). “Ball-shaped robots: An historical overview and recent developments at TKK,” Field and service robotics, P. Corke and S. Sukkarieh, eds., Springer-Verlag, Berlin, 343–354.
Wang, H., Yang, B., and Jones, J. A. (2002). “Mobility analysis of an inflated tumbleweed ball under wind loads.” Proc., 43rd AIAA/ASME/ASCE/AHS/ASC Struct., Struct. Dyn. Mater. Conf., AIAA, Reston, VA, 1–8.
Wilson, J. L., Hartl, A. E., and Mazzoleni, A. (2006). “Dynamics modeling of a mars tumbleweed rover.” Proc., 44th AIAA Aerosp. Sci. Meeting and Exhibit, AIAA, Reston, VA, 1–21.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 25 • Issue 4 • October 2012
Pages: 636 - 640
Copyright
© 2012 American Society of Civil Engineers.
History
Received: Feb 23, 2011
Accepted: Sep 8, 2011
Published online: Sep 10, 2011
Published in print: Oct 1, 2012
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.