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.
Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received February 13, 2019; final manuscript received April 26, 2019; published online May 17, 2019. Assoc. Editor: Guimin Chen.
Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E., and Yamamoto, M. (May 17, 2019). "Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot." ASME. J. Mechanisms Robotics. August 2019; 11(4): 041010. https://doi.org/10.1115/1.4043689
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