Development of a Three-Dimensional-Flywheel Robotic System

In this paper, a new design of spherical robotic system
based on the concepts of gimbal structure and gyro dynamics is
presented. Robots equipped with multiple wheels and complex
steering mechanics may increase the weight and degrade the energy
transmission efficiency. In addition, the wheeled and legged robots are
relatively vulnerable to lateral impact and lack of lateral mobility.
Therefore, the proposed robotic design uses a spherical shell as the
main body for ground locomotion, instead of using wheel devices.
Three spherical shells are structured in a similar way to a gimbal
device and rotate like a gyro system. The design and mechanism of the
proposed robotic system is introduced. In addition, preliminary results
of the dynamic model based on the principles of planar rigid body
kinematics and Lagrangian equation are included. Simulation results
and rig construction are presented to verify the concepts.

• Chung-Chun Hsiao
• Yu-Kai
• Ting
• Kai-Yuan Liu
• Pang-Wei Yen
• Jia-Ying Tu

• Gyro
• gimbal
• Lagrange equation
• spherical robots.

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