In this paper, the mechanical structure, dynamic model and control strategy of an omni-directional rolling spherical robot
with a telescopic manipulator (BYQ-IV) are discussed in particular. The structure of the whole robot is included of the
motion driving part, the manipulator part and the stability maintain part. The simplified dynamic model of the motion
driving part is formed by the Kane method. Moreover, the distribute control system of the robot based on ARM
processor and wireless communication system are introduced and the software architecture of control system is analyzed.
This robot is designed for territory or lunar exploration. It not only has features like straight line motion, circular motion,
zero turning radius and obstacle avoidance, but also is able to accomplish tasks such as stably grabbing and delivering
assemblies. The experiment shows that the prototype of the spherical robot with telescopic manipulator can stably grasp
a static target and carry it to a new location.
For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an
innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based
on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed
detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The
simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for
the latter job.