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^*

^*此作品的通讯作者

机电学院

Beijing Institute of Technology
China Aerospace Science and Technology Corporation
Peking University

科研成果: 期刊稿件 › 文章 › 同行评审

32 引用（Scopus）

摘要

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.

源语言	英语
期刊论文编号	126
期刊	Machines
卷	10
期	2
DOI	https://doi.org/10.3390/machines10020126
出版状态	已出版 - 2月 2022

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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",

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doi = "10.3390/machines10020126",

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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

UR - https://www.scopus.com/pages/publications/85124599280

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DO - 10.3390/machines10020126

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SN - 2075-1702

VL - 10

JO - Machines

JF - Machines

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M1 - 126

ER -

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

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