Abstract

In this study, we design a new kind of spherical robot named BYQ-X. This robot has two moving statuses. When the robot moving on flat terrain, the spherical shell is folding, robot moves in traditional way by the pendulum. When the robot climbing a slope the climbing links stretch out and the spherical shell is unfolding. In this status the spherical is driven by electromotor directly. So the output torque of the electromotor is not limited by the pendulum, the robot can climbs slope of great gradient. Mechanical model of BYQ-X moving in traditional way on flat terrain and the mechanical model of robot climbing slope with climbing link are created. Mechanical model of BYQ-X turning in the status when climbing links stretch out is created. The mechanical structure and motion control system are introduced. Finally, the accuracy of these mechanical models is verified by simulation and experiment.

Keywords:

Climbing link mechanism, mechanical model, mechanical structure, simulation and experiment, spherical robot,

References

Competing interests

The authors have no competing interests.

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Copyright

The authors have no competing interests.