Design of a spherical robot with cable-actuated driving mechanism

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper presents the kinematics and dynamics of a spherical robot with a mechanical driving system that consists of four cable-actuated moving masses. Four cable-pulley systems control four tetrahedrally-located movable masses and the robot functions by shifting its center of mass to create rolling torque. The cable actuation decreases overall mass and, therefore, allow for less energy expenditure, as compared to other moving mass mechanisms that translate the masses by powered-screws. Additionally, the design allows the center of mass for the static (spherical shell, electronics, motors etc.) and dynamic mass (moving masses) to be at the geometric center at any given time, therefore has potential for tumbleweeding when needed. The derived equations of motion are verified by means of simulations.

Original languageEnglish
Title of host publication41st Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791858172
DOIs
StatePublished - 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: Aug 6 2017Aug 9 2017

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2017

Conference

ConferenceASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Country/TerritoryUnited States
CityCleveland
Period08/6/1708/9/17

Keywords

  • Cable-actuation
  • Dynamics
  • Kinematics
  • Spherical robot

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