Multiple sporting state spherical robot

Abstract

The invention discloses a multiple-motion spherical robot, which comprises two hemi-spherical casings and a screw extender for unfolding or folding the two hemi-spherical casings, wherein the screw extender comprises a fixed support, a driving element and two extender groups, the driving element is mounted at the middle of the fixed support, the two extender groups are respectively mounted at two ends of the fixed support, one end of each extender group is connected with the driving element while another end is provided with a driving motor for rotating the hemi-spherical casing. The invention has three motion states as spherical state, two-wheel state, and jump state, with easy carriage, transmission and arrangement, to move on complex landforms.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a multi-kinematic spherical robot. Background technique [0002] Because of its remarkable advantages such as compactness, lightness, portability, flexible movement, and various functions, spherical robots can meet the needs of various fields such as explosion-proof, anti-terrorism, and rescue. This type of robot technology has been researched and some research results have been obtained. [0003] In 1996, the automation technology laboratory of Helsinki University of Technology in Finland designed a spherical robot for the first time, consisting of a spherical shell and a rolling single-wheel mechanism inside the ball, driven by an internal motor combined with eccentric force. Due to the limitation of single-wheel drive, this structure cannot realize the full range of motion of the system. [0004] In recent years, with the needs of my country's economic development and the countr...

AI Technical Summary

Problems solved by technology

However, the robot has disadvantages such as large size, poor obstacle-surmounting ability, and unsatisfactory performance in motion direction control and attitude control.

In the prototype test, the robot can achieve the expected linear motion relatively well, but there are large deviations from the expected other motions, and the stability of the spherical robot is not ideal

[0005] The spherical robot and two-wheeled robot currently developed have the advantages of self-stabilization and self-balancing, but because they mainly use eccentricity to provide driving torque, their climbing and obstacle performance are poor, and they cannot adapt to complex terrain environments.

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