doiSerbia

Modeling and simulation of a spherical mobile robot

Sang Shengju (School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China + School of Information Science and Technology, Taishan College, Shandong Taian, China)
Jichao Zhao (School of Information Science and Technology, Taishan College, Shandong Taian, China)
Wu Hao (School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China)
Chen Shoujun (School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China)
An Qi (School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China)

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.

Keywords: spherical mobile robot (SMR), simulation, ADAMS, virtual prototype, kinematics and dynamic, mathematical model