Structure and dynamic modelling of a spherical robot

This paper deals with the construction and dynamics of a spherical mobile robot. The robot longitudinal and lateral motions are obtained by replacing the mass center of the internal driving unit (IDU) with two sets of orthogonal actuation systems. The unique mechanical structure of the driving unit makes it more reliable and more stable than previous similar robots and results more precise control of the robot in different paths and places. The different components of mechanical construction, actuators drive and control system, and assembling these components to work as a robot are explained. Based on the Lagrangian formulation mathematical model and motion properties of the robot are analyzed.