XK-III: A new three-degree-of-freedom omnidirectional moving spherical robot

The unique motion mode and shape structure of spherical robot make it have high flexibility in complex and narrow environment. The existing spherical robot has the problems of high difficulty in control and large turning radius. Therefore, this paper designs a spherical robot with three-degree-of-freedom omnidirectional movement capability: XK-III. This paper innovatively designs a rotating mechanism around the OZ axis. Based on this structure, we designed the first sports mode (FSM) and the second sports mode (SSM) of XK-III. Then, the kinematics and dynamics specification model of XK-III spherical robot is established. Finally, the validity of the structural and dynamic models of XK-III is verified by using PID controller, active disturbance rejection controller and linear quadratic regulator. It provides an application idea for the application of spherical robots in complex environments.