Design and Analysis of a Spherical Robot with Rolling and Jumping Modes for Deep Space Exploration

Futao Wang; Chaobing Li; Shaohua Niu; Pengfei Wang; Huaisong Wu; Bingyang Li

doi:10.3390/machines10020126

Design and Analysis of a Spherical Robot with Rolling and Jumping Modes for Deep Space Exploration

Futao Wang, Chaobing Li, Shaohua Niu^*, Pengfei Wang, Huaisong Wu, Bingyang Li^*

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

18 Citations (Scopus)

Abstract

Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.

Original language	English
Article number	126
Journal	Machines
Volume	10
Issue number	2
DOIs	https://doi.org/10.3390/machines10020126
Publication status	Published - Feb 2022

Keywords

Deep space exploration
Multi-mode motion
Spherical robot

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10.3390/machines10020126

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title = "Design and Analysis of a Spherical Robot with Rolling and Jumping Modes for Deep Space Exploration",

abstract = "Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.",

keywords = "Deep space exploration, Multi-mode motion, Spherical robot",

author = "Futao Wang and Chaobing Li and Shaohua Niu and Pengfei Wang and Huaisong Wu and Bingyang Li",

note = "Publisher Copyright: {\textcopyright} 2022 by the authors. Licensee MDPI, Basel, Switzerland.",

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doi = "10.3390/machines10020126",

language = "English",

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T1 - Design and Analysis of a Spherical Robot with Rolling and Jumping Modes for Deep Space Exploration

AU - Wang, Futao

AU - Li, Chaobing

AU - Niu, Shaohua

AU - Wang, Pengfei

AU - Wu, Huaisong

AU - Li, Bingyang

PY - 2022/2

Y1 - 2022/2

N2 - Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.

AB - Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical robot can roll and jump by swinging the pendulum and rotating the 2-DOF frame. The structure design of spherical robot is described, and the feasibility of multi-mode motion is analyzed by establishing dynamic model and testing robot prototype. In addition, the adaptability of the spherical robot motion mechanism in microgravity environment is preliminarily verified. The results of this analysis and test could be provided with reference for the future research of deep space exploration robots.

KW - Deep space exploration

KW - Multi-mode motion

KW - Spherical robot

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DO - 10.3390/machines10020126

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VL - 10

JO - Machines

JF - Machines

IS - 2

M1 - 126

ER -

Design and Analysis of a Spherical Robot with Rolling and Jumping Modes for Deep Space Exploration

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Keywords

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