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

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

研究成果: Contribution to journalArticle査読

5 被引用数 (Scopus)

抄録

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.

本文言語英語
論文番号041010
ジャーナルJournal of Mechanisms and Robotics
11
4
DOI
出版ステータス出版済み - 8 1 2019

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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