Abstract:
A novel electric magnetic driving mechanism for fullorientational spherical robot with better movement is proposed, such mechanism can drive the robot to roll forward or backward by propelling or pulling between the magnets, as well as to turn by a flying wheel. It is believed that the robot can roll in omnidirections without ever overturning by combining the straight motion and steering. Prototype is developed based on the above driving mechanisms. The abilities of this prototype for conditions of rolling, uphill climbing, obstacle overrunning and turning are analyzed in detail. It is concluded that the larger of the ratio of the pendulum mass and the spherical robot mass are, the better of the dynamic performance is.