Computer Science and Information Systems 2010 Volume 7, Issue 1, Pages: 51-62
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Modeling and simulation of a spherical mobile robot

Sang Shengju, Jichao Zhao, Wu Hao, Chen Shoujun, An Qi

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