For enhance the grade ability of spherical robot, a new kind of spherical robot with climb link mechanism is
designed. This kind of spherical robot can move in traditional way by the pendulum or move across large gradient slope
by the new climb link mechanism. The mechanics model of the new spherical robot across slope by the climb link
mechanism is created. Then the model is simulated by simulation software. The simulation result verifies the mechanism
model’s accuracy. Then the mechanical model of this new spherical robot named BYQ-X was made out. The mechanical
structure and motion control system are detailed introduced. Finally, the accuracy of the mechanical model, the validity
of the climb link mechanism are verified by tests of mechanical model.
With the ability to provide close surveillance in narrow space or urban areas, spherical aerial vehicles have been of great interest to many scholars and researchers. The spherical aerial vehicle offers substantial design advantages over the conventional small aerial vehicles. As a kind of small aerial vehicles, spherical aerial vehicle is presented in this paper. Firstly, the unique structure of spherical aerial vehicle is presented in detail. And then as the key component of the spherical aerial vehicle, the meshed spherical shell is analyzed. The shell is made of carbon fiber and is used to protect the inner devices, so the deformation of the shell is analyzed and simulated. Then the experimental results verify the above analysis and the composite carbon fiber material makes the mesh spherical shell small deformation. Considering the whole vehicle has a shell outside, the lift affect of the meshed spherical shell is analyzed. The simulation and experiment results are basically consistent with theoretical analysis, and the impact of the meshed shell has small resistance for the airflow through the sphere.
In this article, the dynamic equations of a spherical mobile robot, named BYQ-III, are derived by utilizing the Lagrange
method. There is no simplification throughout the whole dynamic analysis and the derived dynamic equations can be
used for more precise studies of spherical mobile robots' behavior. Considering any possible differentiable function for
the terrain's curve, only assuming that the spherical shell will remain in contact with the ground and the elastic effect of
the spherical shell is ignored, the effect of the terrain's unevenness is completely described in the dynamic equation
evaluation. Although there are complicated and nonlinear relations between the spherical shell and rough terrain, proper
choice of generalized coordinates leads to the general closed form dynamic equations of motion, and finally results in the
effective reduction of simulation time. But there is no need for the numerical method to solve the complex dynamic
equation due to the closed form derivation. In the dynamic equation all variables are highly coupled together and their
individual effect cannot be decoupled exactly. From this proposed complete model a simplified model for controller
design can be extracted and the proposed model description can give an insight about the performance of different
controllers of the spherical robots' motion. Simulations with the same initial conditions on a flat surface and rough
terrain show that a rough terrain has a considerable effect on the dynamic behavior of the spherical robots. And as the
unevenness of the terrain increases, its effect in the dynamic analysis becomes greater and cannot be neglected.
Space robot is a special robotic system which is expected to perform important tasks in space, like servicing satellites.
But any motion of robotic manipulator will disturb its supporting vehicle in space due to the dynamic coupling.
Moreover, the evaluating method of manipulability used on ground can not be directly applied to the space robot. A
volume element concept is developed to evaluate the manipulability and disturbance of a space robot system. This paper
shows the application of volume element method in two-link planar space robot. The volume element method is a new
theoretical approach for the research and analysis of space robot system.
In this paper we establish mechanical model of the interaction between spherical mobile robot and
lunar soil under the moon environment. Two cases are considered: 1.static case in which the spherical robot
sits stationary on the moon surface, 2.dynamic case in which the spherical robot rolls over the moon surface
with a constant forward speed. Curves of mathematical model is obtained by the software of Matlab. Then
we create the model of lunar soil and the spherical robot in the software of ANSYS. We obtain some
difference datas about the relationships between the shape of lunar soil and carrying capability of the
spherical robot. We obtain curves with these datas by Matlab curve fitting. Compare curves obtained by
Matlab with curves obtained by ANSYS and Matlab curve fitting we can see that these two groups of
curves are broadly consistent with each other. These simulation results verify the validity of the
An association algorithm between targets and trajectories is put forward in multi-target tracking. Target tracking is based
on multi-feature camshift and particle filter in each camera. An optimal search is carried out near dynamic transfer center
by camshift, which is helpful to let each particle reach a stable position. Then a new sequence with high weights is
obtained by resampling after it is to enhance high weight particles. Initial and end points of target trajectories are judged
by FOV (field of view) boundaries. Finally, FCM algorithm is used to do data association between measurement points
and tracks. Experimental results indicate that the algorithm is robust to occlusion.
The underwater spherical robot has a spherical pressure hull which contains power modules, sensors, and so on. It lacks
robot arms or end effectors but is highly maneuverable, for the simplest symmetrical geometry is the sphere. This paper
analyzes the spherical robot's hydrodynamic model with CFD software, concludes the spherical robot's hydrodynamic
characteristics, and compares these characteristics with the hydrodynamic model of another underwater robot which has
a streamlined hull. The effect of sphere hydraulic resistance on the control of the robot is analyzed with some examples.
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.
Multi-projector virtual environment based on PC cluster has characteristics of low cost, high resolution and widely visual
angle, which has become a research hotspot in Virtual Reality application. Geometric distortion calibration and seamless
splicing is key problems in multi-projector display. The paper does research on geometry calibration method and edge
blending. It proposes an automatic calibration preprocessing algorithm based on a camera, which projects images to the
regions expected in terms of the relation between a plane surface and a curved surface and texture mapping method. In
addition, overlap regions, which bring about intensity imbalance regions, may be adjusted by an edge blending function.
Implementation indicates that the approach can accomplish geometry calibration and edge blending on an annular
The movement of a spherical rolling robot before jumping is analyzed by use of phase plane on the basis of kinematics and dynamics and the jumping condition is gotten. The dynamic model of the spherical rolling robot after jumping is developed through the D'Alembet principle. The model is simulated and an experiment is completed. The simulation and the experiment have demonstrated the feasibility and validity of the theoretical analysis for the spherical rolling robot both in climbing and jumping.
Spherical robot, rolling by altering its barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the ground while it rolling. Particular attention is paid to the research of spherical robot in recent years.
This paper presents a new omnidirectional bi-driver spherical robot droved by two motors that directly drive the balancer to rotate about two orthogonal axes. The spherical robot is a nonholonomic system with 3 DOF while it rolls on the ground, so the spherical presented in this paper is a nonholonomic under-actuated system, featuring omnidirectional movement, simple configuration, and so on.
In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not only mechanical but also control literature recently, due to both their relevance to practical applications, and to the difficulties in the analysis and control of these robots. The positioning of a spherical rolling robot at an arbitrary pose and at any time is one of the fundamental and difficult problems in the research of spherical rolling robots. Because spherical rolling robot touches the floor at a point, the positioning is difficult, especially when it moves at a high speed. Up to now, this problem has not been solved perfectly. In this paper, we present an efficient positioning approach for a spherical rolling robot. Based on the approach, a moving spherical rolling robot can be positioned at an arbitrary pose and at any time.
Based on the structure of virtual assembly system, a comprehensive survey and analysis of the recent research in the field are given, which include assembly modeling, constraint recognizing and solving, collision detection, assembly plans and evaluation and so on. The future research trends are presented.