Modeling and simulation of a spherical mobile robot

Spherical mobile robot (SMR) has been studied analytically and experimentally in this paper, a novel design with an internal propulsion mechanism and mathematical models of the robot's dynamics and kinematics are introduced. A 3D model of robot is built by SOLIDWORKS and then exported to ADAMS2007 for simulation. The results of simulation by combining MATLAB / SIMULINK with ADAMS are presented. It is shown experimentally that the behavior of actual model consist well with the prediction of simulation.

• Type: Journal
• Year: 2010
• Where: COMSIS
• Authors: Shengju Sang, Jichao Zhao, Hao Wu, Shoujun Chen, Qi An
• Keywords: Applied Computing, COMSIS 2010, Internal Propulsion Mechanism, Simulation, Spherical Mobile Robot