TY - GEN
T1 - Design and analysis of a spherical robot based on reaction wheel stabilization
AU - Li, Cheng
AU - Zhu, Aibin
AU - Zheng, Chunli
AU - Mao, Han
AU - Arif, Muhammad Affan
AU - Song, Jiyuan
AU - Zhang, Yulin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, we present the design of a spherical robot with a high spherical shell to drive-unit mass ratio. A drive unit and a novel shell structure design for the spherical robot are proposed, and reaction wheels are used to reduce the robot's oscillations. Dynamic models of the spherical robot are established for linear motion and static state by using Lagrange equation. The stability of the robot is studied via simulations in different, such as accelerated state, uniform state, and so on. The results demonstrate the ability of the reaction wheel structure to enhance the robot's stability.
AB - In this paper, we present the design of a spherical robot with a high spherical shell to drive-unit mass ratio. A drive unit and a novel shell structure design for the spherical robot are proposed, and reaction wheels are used to reduce the robot's oscillations. Dynamic models of the spherical robot are established for linear motion and static state by using Lagrange equation. The stability of the robot is studied via simulations in different, such as accelerated state, uniform state, and so on. The results demonstrate the ability of the reaction wheel structure to enhance the robot's stability.
UR - https://www.scopus.com/pages/publications/85136100215
U2 - 10.1109/UR55393.2022.9826266
DO - 10.1109/UR55393.2022.9826266
M3 - 会议稿件
AN - SCOPUS:85136100215
T3 - 2022 19th International Conference on Ubiquitous Robots, UR 2022
SP - 143
EP - 148
BT - 2022 19th International Conference on Ubiquitous Robots, UR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Ubiquitous Robots, UR 2022
Y2 - 4 July 2022 through 6 July 2022
ER -