Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot

Seyed Amir Tafrishi, Mikhail Svinin, Esmaeil Esmaeilzadeh, Motoji Yamamoto

Research output: Contribution to journalArticle

Abstract

This paper studies a novel fluid actuated system for a spherical mobile robot. The robot's mechanism consists of two essential parts: circular pipes to lead spherical moving masses (cores) and an internal driving unit to propel the cores. The spherical shell of the robot is rolled by displacing the cores in the pipes filled with fluid. First, we describe the structure of the robot and derive its nonlinear dynamics using the D'Alembert principle. Next, we model the internal driving unit that actuates the core inside the pipe. The simulated driving unit is studied with respect to three important parameters - the input motor torque, the actuator size, and the fluid properties. The overall model of the robot is then used for analyzing motion patterns in the forward direction. Analytical studies show that the modeled robot can be implemented under the given design specifications.

Original languageEnglish
Article number041010
JournalJournal of Mechanisms and Robotics
Volume11
Issue number4
DOIs
Publication statusPublished - Aug 1 2019

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Robots
Fluids
Pipe
Torque motors
Mobile robots
Actuators
Motion analysis
Specifications

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

Cite this

Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. / Tafrishi, Seyed Amir; Svinin, Mikhail; Esmaeilzadeh, Esmaeil; Yamamoto, Motoji.

In: Journal of Mechanisms and Robotics, Vol. 11, No. 4, 041010, 01.08.2019.

Research output: Contribution to journalArticle

Tafrishi, Seyed Amir ; Svinin, Mikhail ; Esmaeilzadeh, Esmaeil ; Yamamoto, Motoji. / Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. In: Journal of Mechanisms and Robotics. 2019 ; Vol. 11, No. 4.
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